\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 78.95 \% & 85.82 \% & 79.04 \% & 88.76 \%\\
PEDESTRIAN & 44.64 \% & 66.08 \% & 46.14 \% & 88.82 \%
\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 & 93.24 \% & 89.00 \% & 91.07 \% & 36770 & 4543 & 2665 & 40.84 \% & 48752 & 2133\\
PEDESTRIAN & 74.05 \% & 73.16 \% & 73.60 \% & 17381 & 6378 & 6090 & 57.34 \% & 32095 & 1779
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 76.00 \% & 18.31 \% & 5.69 \% & 31 & 275\\
PEDESTRIAN & 43.99 \% & 42.96 \% & 13.06 \% & 348 & 1488
\end{tabular}