\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 91.73 \% & 85.90 \% & 92.47 \% & 88.59 \%\\
PEDESTRIAN & 67.33 \% & 73.83 \% & 69.07 \% & 91.56 \%
\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 & 94.82 \% & 98.53 \% & 96.64 \% & 37241 & 556 & 2033 & 5.00 \% & 46255 & 939\\
PEDESTRIAN & 77.17 \% & 90.88 \% & 83.47 \% & 18072 & 1813 & 5347 & 16.30 \% & 23735 & 383
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 87.08 \% & 10.62 \% & 2.31 \% & 255 & 380\\
PEDESTRIAN & 52.23 \% & 34.36 \% & 13.40 \% & 403 & 1077
\end{tabular}