\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 61.52 \% & 76.66 \% & 62.23 \% & 81.01 \%\\
PEDESTRIAN & 37.48 \% & 69.41 \% & 39.10 \% & 90.45 \%
\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 & 79.62 \% & 85.75 \% & 82.58 \% & 30780 & 5113 & 7877 & 45.96 \% & 47510 & 989\\
PEDESTRIAN & 65.80 \% & 71.60 \% & 68.58 \% & 15385 & 6103 & 7995 & 54.86 \% & 27345 & 417
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 59.54 \% & 34.46 \% & 6.00 \% & 244 & 849\\
PEDESTRIAN & 36.08 \% & 45.02 \% & 18.90 \% & 376 & 1271
\end{tabular}