\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf sMOTSA} & {\bf MOTSA} & {\bf MOTSP} & {\bf MODSA} & {\bf MODSP}\\ \hline
CAR & 78.00 \% & 90.40 \% & 87.20 \% & 91.80 \% & 89.70 \%\\
PEDESTRIAN & 61.00 \% & 75.70 \% & 81.30 \% & 76.90 \% & 93.80 \%
\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 & 96.10 \% & 95.80 \% & 95.90 \% & 35317 & 1558 & 1443 & 14.00 \% & 52899 & 1174\\
PEDESTRIAN & 78.70 \% & 97.80 \% & 87.20 \% & 16280 & 371 & 4417 & 3.30 \% & 19981 & 708
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 91.30 \% & 8.00 \% & 0.80 \% & 542 & 832\\
PEDESTRIAN & 53.00 \% & 38.50 \% & 8.50 \% & 233 & 707
\end{tabular}