\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 89.44 \% & 85.15 \% & 89.81 \% & 87.91 \%\\
PEDESTRIAN & 56.20 \% & 74.54 \% & 56.59 \% & 92.11 \%
\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 & 91.76 \% & 99.17 \% & 95.32 \% & 35706 & 299 & 3207 & 2.69 \% & 47845 & 1168\\
PEDESTRIAN & 66.05 \% & 87.88 \% & 75.42 \% & 15413 & 2126 & 7923 & 19.11 \% & 24128 & 561
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 78.62 \% & 17.54 \% & 3.85 \% & 125 & 415\\
PEDESTRIAN & 32.30 \% & 42.27 \% & 25.43 \% & 90 & 854
\end{tabular}