\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 75.58 \% & 79.39 \% & 75.88 \% & 83.76 \%\\
PEDESTRIAN & 43.91 \% & 71.86 \% & 44.15 \% & 92.71 \%
\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 & 81.76 \% & 96.00 \% & 88.31 \% & 31330 & 1306 & 6989 & 11.74 \% & 35495 & 1017\\
PEDESTRIAN & 49.52 \% & 90.69 \% & 64.06 \% & 11522 & 1183 & 11746 & 10.63 \% & 13763 & 380
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 53.08 \% & 35.38 \% & 11.54 \% & 104 & 448\\
PEDESTRIAN & 16.15 \% & 40.55 \% & 43.30 \% & 56 & 641
\end{tabular}