\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 88.77 \% & 83.95 \% & 89.05 \% & 86.71 \%\\
PEDESTRIAN & 45.02 \% & 69.45 \% & 45.90 \% & 90.58 \%
\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 & 92.82 \% & 97.17 \% & 94.94 \% & 35357 & 1028 & 2737 & 9.24 \% & 45409 & 1194\\
PEDESTRIAN & 62.33 \% & 79.74 \% & 69.97 \% & 14592 & 3707 & 8818 & 33.32 \% & 22712 & 560
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 80.46 \% & 15.85 \% & 3.69 \% & 96 & 218\\
PEDESTRIAN & 32.99 \% & 41.58 \% & 25.43 \% & 203 & 850
\end{tabular}