\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 88.19 \% & 85.47 \% & 88.35 \% & 88.24 \%\\
PEDESTRIAN & 47.84 \% & 64.64 \% & 48.90 \% & 88.60 \%
\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 & 94.75 \% & 94.53 \% & 94.64 \% & 35360 & 2046 & 1960 & 18.39 \% & 45087 & 1781\\
PEDESTRIAN & 66.85 \% & 79.18 \% & 72.49 \% & 15588 & 4100 & 7730 & 36.86 \% & 23764 & 1558
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 87.23 \% & 11.54 \% & 1.23 \% & 56 & 405\\
PEDESTRIAN & 33.33 \% & 50.52 \% & 16.15 \% & 244 & 1393
\end{tabular}