\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 91.05 \% & 85.71 \% & 91.30 \% & 88.42 \%\\
PEDESTRIAN & 65.52 \% & 74.69 \% & 66.25 \% & 92.25 \%
\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 & 93.28 \% & 99.00 \% & 96.06 \% & 36446 & 368 & 2624 & 3.31 \% & 44115 & 820\\
PEDESTRIAN & 72.73 \% & 92.16 \% & 81.30 \% & 16986 & 1444 & 6369 & 12.98 \% & 21796 & 312
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 80.15 \% & 15.85 \% & 4.00 \% & 85 & 151\\
PEDESTRIAN & 40.55 \% & 37.46 \% & 21.99 \% & 170 & 674
\end{tabular}