\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.59 \% & 93.22 \% & 90.71 \%\\
Car (Orientation) & 96.58 \% & 93.14 \% & 90.56 \%\\
Car (3D Detection) & 90.73 \% & 82.29 \% & 77.90 \%\\
Car (Bird's Eye View) & 94.97 \% & 89.34 \% & 86.85 \%\\
Pedestrian (Detection) & 68.50 \% & 53.36 \% & 48.89 \%\\
Pedestrian (Orientation) & 43.83 \% & 34.06 \% & 31.06 \%\\
Pedestrian (3D Detection) & 53.20 \% & 42.78 \% & 38.67 \%\\
Pedestrian (Bird's Eye View) & 56.48 \% & 45.96 \% & 41.73 \%\\
Cyclist (Detection) & 86.64 \% & 75.64 \% & 71.06 \%\\
Cyclist (Orientation) & 86.16 \% & 75.11 \% & 70.49 \%\\
Cyclist (3D Detection) & 80.36 \% & 64.98 \% & 60.40 \%\\
Cyclist (Bird's Eye View) & 84.10 \% & 69.04 \% & 64.39 \%
\end{tabular}