\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf sMOTSA} & {\bf MOTSA} & {\bf MOTSP} & {\bf MODSA} & {\bf MODSP}\\ \hline
CAR & 75.90 \% & 86.70 \% & 88.20 \% & 88.70 \% & 90.70 \%\\
PEDESTRIAN & 66.00 \% & 81.30 \% & 82.00 \% & 83.20 \% & 94.00 \%
\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 & 92.10 \% & 96.40 \% & 94.20 \% & 33856 & 1257 & 2904 & 11.30 \% & 53256 & 3853\\
PEDESTRIAN & 85.30 \% & 97.60 \% & 91.00 \% & 17655 & 434 & 3042 & 3.90 \% & 24335 & 1425
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 84.50 \% & 14.90 \% & 0.60 \% & 716 & 905\\
PEDESTRIAN & 62.60 \% & 31.90 \% & 5.60 \% & 391 & 551
\end{tabular}