\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 91.92 \% & 85.83 \% & 92.32 \% & 88.47 \%\\
PEDESTRIAN & 65.76 \% & 74.67 \% & 66.29 \% & 91.92 \%
\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 & 94.27 \% & 98.96 \% & 96.56 \% & 37033 & 389 & 2252 & 3.50 \% & 46490 & 1773\\
PEDESTRIAN & 74.63 \% & 90.37 \% & 81.75 \% & 17474 & 1862 & 5941 & 16.74 \% & 23170 & 922
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 86.77 \% & 10.92 \% & 2.31 \% & 138 & 345\\
PEDESTRIAN & 49.14 \% & 35.74 \% & 15.12 \% & 124 & 792
\end{tabular}