\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 87.74 \% & 84.55 \% & 88.92 \% & 87.46 \%\\
PEDESTRIAN & 53.22 \% & 73.69 \% & 54.93 \% & 91.74 \%
\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 & 93.52 \% & 96.67 \% & 95.07 \% & 36710 & 1266 & 2545 & 11.38 \% & 47508 & 2082\\
PEDESTRIAN & 67.13 \% & 85.12 \% & 75.06 \% & 15701 & 2745 & 7689 & 24.68 \% & 24523 & 1129
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 84.77 \% & 13.38 \% & 1.85 \% & 404 & 607\\
PEDESTRIAN & 33.68 \% & 47.77 \% & 18.56 \% & 395 & 1035
\end{tabular}