\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 90.67 \% & 85.46 \% & 91.99 \% & 88.09 \%\\
PEDESTRIAN & 64.41 \% & 75.24 \% & 66.98 \% & 92.02 \%
\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 & 94.25 \% & 98.61 \% & 96.38 \% & 36702 & 517 & 2239 & 4.65 \% & 47313 & 2595\\
PEDESTRIAN & 75.27 \% & 90.47 \% & 82.17 \% & 17613 & 1855 & 5788 & 16.68 \% & 23795 & 1561
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 86.46 \% & 11.23 \% & 2.31 \% & 454 & 659\\
PEDESTRIAN & 48.80 \% & 37.80 \% & 13.40 \% & 596 & 1195
\end{tabular}