\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 84.77 \% & 86.16 \% & 85.42 \% & 88.95 \%\\
PEDESTRIAN & 50.85 \% & 74.17 \% & 51.45 \% & 92.21 \%
\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 & 88.18 \% & 98.85 \% & 93.21 \% & 34423 & 402 & 4614 & 3.61 \% & 37952 & 1106\\
PEDESTRIAN & 55.29 \% & 94.11 \% & 69.66 \% & 12902 & 808 & 10432 & 7.26 \% & 14762 & 437
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 69.54 \% & 27.08 \% & 3.38 \% & 222 & 646\\
PEDESTRIAN & 22.68 \% & 48.45 \% & 28.87 \% & 139 & 986
\end{tabular}