\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 78.15 \% & 79.46 \% & 78.24 \% & 83.87 \%\\
PEDESTRIAN & 46.62 \% & 71.45 \% & 46.89 \% & 92.02 \%
\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 & 83.22 \% & 96.78 \% & 89.49 \% & 31854 & 1061 & 6421 & 9.54 \% & 35742 & 775\\
PEDESTRIAN & 55.25 \% & 87.33 \% & 67.68 \% & 12874 & 1867 & 10427 & 16.78 \% & 16525 & 299
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 57.23 \% & 29.54 \% & 13.23 \% & 31 & 207\\
PEDESTRIAN & 26.12 \% & 39.86 \% & 34.02 \% & 63 & 666
\end{tabular}