\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 65.83 \% & 75.42 \% & 66.43 \% & 80.76 \%\\
PEDESTRIAN & 43.77 \% & 71.02 \% & 44.43 \% & 92.38 \%
\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 & 80.58 \% & 88.09 \% & 84.17 \% & 30689 & 4148 & 7396 & 37.29 \% & 39256 & 940\\
PEDESTRIAN & 53.64 \% & 85.75 \% & 66.00 \% & 12484 & 2075 & 10790 & 18.65 \% & 16262 & 298
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 40.15 \% & 50.15 \% & 9.69 \% & 209 & 727\\
PEDESTRIAN & 19.59 \% & 39.18 \% & 41.24 \% & 153 & 748
\end{tabular}