\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 90.29 \% & 85.61 \% & 90.78 \% & 88.33 \%\\
PEDESTRIAN & 63.13 \% & 74.60 \% & 65.13 \% & 92.14 \%
\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 & 94.51 \% & 97.32 \% & 95.89 \% & 36985 & 1020 & 2150 & 9.17 \% & 47304 & 861\\
PEDESTRIAN & 74.87 \% & 88.80 \% & 81.24 \% & 17481 & 2205 & 5867 & 19.82 \% & 24447 & 358
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 84.77 \% & 12.00 \% & 3.23 \% & 168 & 251\\
PEDESTRIAN & 45.02 \% & 35.74 \% & 19.24 \% & 463 & 964
\end{tabular}