\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.16 \% & 94.64 \% & 91.94 \%\\
Car (Orientation) & 96.14 \% & 94.51 \% & 91.73 \%\\
Car (3D Detection) & 88.05 \% & 80.70 \% & 76.10 \%\\
Car (Bird's Eye View) & 92.55 \% & 88.47 \% & 85.63 \%\\
Pedestrian (Detection) & 65.96 \% & 56.93 \% & 54.73 \%\\
Pedestrian (Orientation) & 64.15 \% & 54.31 \% & 51.81 \%\\
Pedestrian (3D Detection) & 46.86 \% & 40.38 \% & 37.41 \%\\
Pedestrian (Bird's Eye View) & 51.16 \% & 45.41 \% & 42.72 \%\\
Cyclist (Detection) & 86.15 \% & 76.48 \% & 69.64 \%\\
Cyclist (Orientation) & 85.99 \% & 76.25 \% & 69.39 \%\\
Cyclist (3D Detection) & 79.43 \% & 61.96 \% & 55.28 \%\\
Cyclist (Bird's Eye View) & 80.54 \% & 66.60 \% & 58.90 \%
\end{tabular}