\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf sMOTSA} & {\bf MOTSA} & {\bf MOTSP} & {\bf MODSA} & {\bf MODSP}\\ \hline
CAR & 66.20 \% & 81.10 \% & 82.80 \% & 82.90 \% & 86.30 \%\\
PEDESTRIAN & 42.60 \% & 57.70 \% & 75.60 \% & 59.60 \% & 92.60 \%
\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 & 86.50 \% & 96.00 \% & 91.00 \% & 31790 & 1314 & 4970 & 11.80 \% & 39736 & 1400\\
PEDESTRIAN & 61.80 \% & 96.50 \% & 75.40 \% & 12799 & 458 & 7898 & 4.10 \% & 13988 & 424
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 71.90 \% & 26.10 \% & 2.00 \% & 676 & 1093\\
PEDESTRIAN & 27.80 \% & 53.70 \% & 18.50 \% & 408 & 780
\end{tabular}