\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 85.54 \% & 85.52 \% & 86.58 \% & 88.52 \%\\
PEDESTRIAN & 47.87 \% & 64.89 \% & 48.81 \% & 88.98 \%
\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 & 92.76 \% & 94.40 \% & 93.57 \% & 33587 & 1991 & 2623 & 17.90 \% & 42713 & 2147\\
PEDESTRIAN & 63.04 \% & 81.96 \% & 71.27 \% & 14695 & 3234 & 8616 & 29.07 \% & 21166 & 1182
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 82.00 \% & 15.85 \% & 2.15 \% & 358 & 857\\
PEDESTRIAN & 29.90 \% & 51.20 \% & 18.90 \% & 219 & 1348
\end{tabular}