\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 86.95 \% & 86.21 \% & 87.28 \% & 88.98 \%\\
PEDESTRIAN & 53.45 \% & 65.54 \% & 54.53 \% & 89.37 \%
\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 & 90.70 \% & 97.52 \% & 93.99 \% & 34175 & 870 & 3503 & 7.82 \% & 38750 & 1128\\
PEDESTRIAN & 63.52 \% & 88.31 \% & 73.89 \% & 14897 & 1972 & 8554 & 17.73 \% & 18675 & 399
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 74.92 \% & 20.31 \% & 4.77 \% & 116 & 544\\
PEDESTRIAN & 31.62 \% & 40.21 \% & 28.18 \% & 250 & 1300
\end{tabular}