\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 80.83 \% & 78.73 \% & 80.87 \% & 83.71 \%\\
PEDESTRIAN & 58.48 \% & 71.14 \% & 60.47 \% & 90.74 \%
\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 & 90.87 \% & 91.71 \% & 91.29 \% & 34470 & 3116 & 3462 & 28.01 \% & 42685 & 1651\\
PEDESTRIAN & 77.76 \% & 82.32 \% & 79.97 \% & 18271 & 3925 & 5226 & 35.28 \% & 27439 & 1002
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 73.85 \% & 22.92 \% & 3.23 \% & 16 & 330\\
PEDESTRIAN & 53.26 \% & 36.77 \% & 9.97 \% & 460 & 1323
\end{tabular}