\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf sMOTSA} & {\bf MOTSA} & {\bf MOTSP} & {\bf MODSA} & {\bf MODSP}\\ \hline
CAR & 67.00 \% & 79.60 \% & 85.10 \% & 81.50 \% & 88.30 \%\\
PEDESTRIAN & 47.30 \% & 66.10 \% & 74.60 \% & 68.40 \% & 91.80 \%
\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 & 85.10 \% & 96.00 \% & 90.20 \% & 31281 & 1310 & 5479 & 11.80 \% & 42100 & 843\\
PEDESTRIAN & 74.10 \% & 92.90 \% & 82.40 \% & 15334 & 1179 & 5363 & 10.60 \% & 19711 & 416
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 74.90 \% & 22.80 \% & 2.30 \% & 692 & 1058\\
PEDESTRIAN & 45.60 \% & 41.10 \% & 13.30 \% & 481 & 861
\end{tabular}