\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 85.31 \% & 85.52 \% & 86.49 \% & 88.57 \%\\
PEDESTRIAN & 47.25 \% & 64.87 \% & 48.29 \% & 88.92 \%
\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 & 92.67 \% & 94.40 \% & 93.53 \% & 33554 & 1990 & 2655 & 17.89 \% & 42674 & 1686\\
PEDESTRIAN & 63.58 \% & 80.99 \% & 71.24 \% & 14823 & 3480 & 8491 & 31.28 \% & 21750 & 1407
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 81.38 \% & 16.31 \% & 2.31 \% & 408 & 900\\
PEDESTRIAN & 30.24 \% & 51.20 \% & 18.56 \% & 241 & 1375
\end{tabular}