\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 64.98 \% & 81.69 \% & 65.06 \% & 86.72 \%\\
PEDESTRIAN & 30.39 \% & 77.20 \% & 30.54 \% & 95.01 \%
\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 & 70.31 \% & 96.89 \% & 81.48 \% & 26441 & 850 & 11167 & 7.64 \% & 28446 & 648\\
PEDESTRIAN & 33.90 \% & 91.65 \% & 49.50 \% & 7880 & 718 & 15362 & 6.45 \% & 8853 & 185
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 28.92 \% & 42.77 \% & 28.31 \% & 28 & 339\\
PEDESTRIAN & 11.68 \% & 27.84 \% & 60.48 \% & 35 & 354
\end{tabular}