\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf sMOTSA} & {\bf MOTSA} & {\bf MOTSP} & {\bf MODSA} & {\bf MODSP}\\ \hline
CAR & 68.70 \% & 81.00 \% & 86.20 \% & 81.20 \% & 88.90 \%\\
PEDESTRIAN & 49.70 \% & 68.10 \% & 77.40 \% & 68.50 \% & 92.70 \%
\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 & 88.70 \% & 92.20 \% & 90.40 \% & 32616 & 2757 & 4144 & 24.80 \% & 47510 & 989\\
PEDESTRIAN & 81.60 \% & 86.20 \% & 83.80 \% & 16882 & 2711 & 3815 & 24.40 \% & 27345 & 417
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 71.60 \% & 25.70 \% & 2.70 \% & 95 & 302\\
PEDESTRIAN & 56.30 \% & 29.60 \% & 14.10 \% & 79 & 326
\end{tabular}