\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf sMOTSA} & {\bf MOTSA} & {\bf MOTSP} & {\bf MODSA} & {\bf MODSP}\\ \hline
CAR & 76.00 \% & 87.90 \% & 86.90 \% & 88.20 \% & 89.50 \%\\
PEDESTRIAN & 60.50 \% & 78.80 \% & 79.10 \% & 79.50 \% & 93.10 \%
\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 & 91.00 \% & 97.00 \% & 93.90 \% & 33463 & 1026 & 3297 & 9.20 \% & 49091 & 1029\\
PEDESTRIAN & 87.50 \% & 91.60 \% & 89.50 \% & 18117 & 1660 & 2580 & 15.00 \% & 27230 & 640
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 76.40 \% & 19.50 \% & 4.10 \% & 130 & 509\\
PEDESTRIAN & 68.90 \% & 25.60 \% & 5.60 \% & 140 & 465
\end{tabular}