\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 85.76 \% & 85.01 \% & 86.03 \% & 88.06 \%\\
PEDESTRIAN & 56.81 \% & 73.99 \% & 57.91 \% & 91.75 \%
\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 & 89.02 \% & 98.54 \% & 93.54 \% & 34782 & 517 & 4288 & 4.65 \% & 38708 & 1360\\
PEDESTRIAN & 63.82 \% & 92.08 \% & 75.39 \% & 14925 & 1284 & 8460 & 11.54 \% & 18443 & 856
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 69.08 \% & 27.85 \% & 3.08 \% & 93 & 617\\
PEDESTRIAN & 31.27 \% & 49.83 \% & 18.90 \% & 254 & 1121
\end{tabular}