\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf sMOTSA} & {\bf MOTSA} & {\bf MOTSP} & {\bf MODSA} & {\bf MODSP}\\ \hline
CAR & 81.00 \% & 90.70 \% & 89.90 \% & 91.80 \% & 92.20 \%\\
PEDESTRIAN & 68.70 \% & 84.50 \% & 82.30 \% & 85.50 \% & 93.90 \%
\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 & 95.90 \% & 95.90 \% & 95.90 \% & 35237 & 1498 & 1523 & 13.50 \% & 54397 & 1250\\
PEDESTRIAN & 89.00 \% & 96.20 \% & 92.50 \% & 18426 & 737 & 2271 & 6.60 \% & 27830 & 671
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 92.20 \% & 7.20 \% & 0.60 \% & 392 & 580\\
PEDESTRIAN & 73.30 \% & 24.10 \% & 2.60 \% & 209 & 443
\end{tabular}