\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf sMOTSA} & {\bf MOTSA} & {\bf MOTSP} & {\bf MODSA} & {\bf MODSP}\\ \hline
CAR & 74.80 \% & 86.80 \% & 86.80 \% & 88.50 \% & 89.70 \%\\
PEDESTRIAN & 60.60 \% & 78.90 \% & 78.20 \% & 80.80 \% & 93.00 \%
\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 & 90.90 \% & 97.40 \% & 94.00 \% & 33407 & 886 & 3353 & 8.00 \% & 45994 & 1299\\
PEDESTRIAN & 83.80 \% & 96.50 \% & 89.70 \% & 17350 & 637 & 3347 & 5.70 \% & 25145 & 728
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 80.00 \% & 18.50 \% & 1.50 \% & 614 & 983\\
PEDESTRIAN & 60.40 \% & 35.20 \% & 4.40 \% & 390 & 714
\end{tabular}