\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.67 \% & 90.67 \% & 85.31 \%\\
Car (Orientation) & 93.52 \% & 90.11 \% & 84.61 \%\\
Car (3D Detection) & 84.39 \% & 75.94 \% & 68.82 \%\\
Car (Bird's Eye View) & 91.58 \% & 86.54 \% & 81.19 \%\\
Pedestrian (Detection) & 69.90 \% & 59.07 \% & 56.44 \%\\
Pedestrian (Orientation) & 42.54 \% & 36.21 \% & 34.39 \%\\
Pedestrian (3D Detection) & 53.72 \% & 44.34 \% & 40.49 \%\\
Pedestrian (Bird's Eye View) & 60.85 \% & 51.38 \% & 47.54 \%\\
Cyclist (Detection) & 82.24 \% & 68.20 \% & 62.13 \%\\
Cyclist (Orientation) & 81.15 \% & 66.37 \% & 60.10 \%\\
Cyclist (3D Detection) & 75.70 \% & 59.44 \% & 52.53 \%\\
Cyclist (Bird's Eye View) & 79.16 \% & 63.77 \% & 56.21 \%
\end{tabular}