\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 90.64 \% & 85.71 \% & 91.30 \% & 88.41 \%\\
PEDESTRIAN & 64.01 \% & 74.73 \% & 64.71 \% & 92.21 \%
\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 & 93.37 \% & 98.93 \% & 96.07 \% & 36572 & 396 & 2597 & 3.56 \% & 46032 & 904\\
PEDESTRIAN & 72.56 \% & 90.61 \% & 80.59 \% & 16956 & 1758 & 6412 & 15.80 \% & 22728 & 343
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 81.23 \% & 15.85 \% & 2.92 \% & 225 & 471\\
PEDESTRIAN & 44.67 \% & 35.74 \% & 19.59 \% & 161 & 813
\end{tabular}