\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf sMOTSA} & {\bf MOTSA} & {\bf MOTSP} & {\bf MODSA} & {\bf MODSP}\\ \hline
CAR & 75.40 \% & 86.70 \% & 87.50 \% & 88.20 \% & 90.10 \%\\
PEDESTRIAN & 62.80 \% & 78.20 \% & 81.60 \% & 80.50 \% & 93.70 \%
\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 & 90.80 \% & 97.20 \% & 93.90 \% & 33387 & 964 & 3373 & 8.70 \% & 49145 & 574\\
PEDESTRIAN & 83.20 \% & 96.80 \% & 89.50 \% & 17223 & 570 & 3474 & 5.10 \% & 23551 & 357
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 82.00 \% & 17.40 \% & 0.60 \% & 549 & 874\\
PEDESTRIAN & 59.30 \% & 35.90 \% & 4.80 \% & 474 & 696
\end{tabular}