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This paper deals with the non-trivial problem of performance evaluation of motion tracking. We propose a rich set of metrics to assess different aspects of performance of motion tracking. We use six different video sequences that represent a variety of challenges to illustrate the practical value of the proposed metrics by evaluating and comparing two motion tracking algorithms. The contribution of our framework is that allows the identification of specific weaknesses of motion trackers, such as the performance of specific modules or failures under specific conditions.