\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 66.60 \% & 78.17 \% & 66.64 \% & 83.06 \%\\
PEDESTRIAN & 36.93 \% & 67.75 \% & 37.08 \% & 91.28 \%
\end{tabular}

\begin{tabular}{c | c | c | c | c | c | c | c | c}
{\bf Benchmark} & {\bf recall} & {\bf precision} & {\bf F1} & {\bf TP} & {\bf FP} & {\bf FN} & {\bf FAR} & {\bf #objects} & {\bf #trajectories}\\ \hline
CAR & 69.21 \% & 98.05 \% & 81.14 \% & 24686 & 492 & 10981 & 4.42 \% & 28775 & 745\\
PEDESTRIAN & 46.96 \% & 82.91 \% & 59.96 \% & 10905 & 2248 & 12318 & 20.21 \% & 15795 & 284
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 41.08 \% & 33.69 \% & 25.23 \% & 13 & 150\\
PEDESTRIAN & 17.87 \% & 39.52 \% & 42.61 \% & 34 & 789
\end{tabular}