\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 61.17 \% & 78.65 \% & 61.26 \% & 84.15 \%\\
PEDESTRIAN & 27.49 \% & 67.99 \% & 27.81 \% & 93.02 \%
\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 & 64.30 \% & 97.83 \% & 77.60 \% & 23075 & 512 & 12813 & 4.60 \% & 26309 & 865\\
PEDESTRIAN & 37.30 \% & 80.09 \% & 50.89 \% & 8660 & 2153 & 14559 & 19.35 \% & 13197 & 405
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 33.85 \% & 38.15 \% & 28.00 \% & 28 & 241\\
PEDESTRIAN & 15.12 \% & 34.36 \% & 50.52 \% & 73 & 732
\end{tabular}