\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf sMOTSA} & {\bf MOTSA} & {\bf MOTSP} & {\bf MODSA} & {\bf MODSP}\\ \hline
CAR & 74.50 \% & 83.50 \% & 89.60 \% & 84.80 \% & 92.10 \%\\
PEDESTRIAN & 58.10 \% & 72.00 \% & 81.50 \% & 73.30 \% & 94.10 \%
\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 & 86.50 \% & 98.10 \% & 91.90 \% & 31792 & 629 & 4968 & 5.70 \% & 37505 & 1229\\
PEDESTRIAN & 75.60 \% & 97.10 \% & 85.00 \% & 15640 & 459 & 5057 & 4.10 \% & 18753 & 704
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 67.10 \% & 29.40 \% & 3.50 \% & 457 & 811\\
PEDESTRIAN & 43.30 \% & 43.00 \% & 13.70 \% & 270 & 633
\end{tabular}