\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf sMOTSA} & {\bf MOTSA} & {\bf MOTSP} & {\bf MODSA} & {\bf MODSP}\\ \hline
CAR & 77.20 \% & 87.70 \% & 88.40 \% & 88.90 \% & 90.90 \%\\
PEDESTRIAN & 65.00 \% & 79.60 \% & 82.30 \% & 81.10 \% & 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 & 90.80 \% & 97.90 \% & 94.20 \% & 33394 & 725 & 3366 & 6.50 \% & 47952 & 1420\\
PEDESTRIAN & 82.80 \% & 98.00 \% & 89.70 \% & 17130 & 349 & 3567 & 3.10 \% & 22798 & 675
\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 \% & 17.30 \% & 0.80 \% & 415 & 706\\
PEDESTRIAN & 57.80 \% & 35.90 \% & 6.30 \% & 300 & 520
\end{tabular}