\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 83.92 \% & 85.30 \% & 83.95 \% & 88.21 \%\\
PEDESTRIAN & 38.39 \% & 64.88 \% & 39.33 \% & 91.22 \%
\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 & 88.17 \% & 97.19 \% & 92.46 \% & 33864 & 978 & 4542 & 8.79 \% & 37736 & 864\\
PEDESTRIAN & 49.49 \% & 83.65 \% & 62.19 \% & 11550 & 2257 & 11788 & 20.29 \% & 14523 & 327
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 66.77 \% & 24.15 \% & 9.08 \% & 10 & 199\\
PEDESTRIAN & 23.02 \% & 32.99 \% & 43.99 \% & 218 & 940
\end{tabular}