\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.00 \% & 95.22 \% & 92.72 \%\\
Car (Orientation) & 97.98 \% & 95.14 \% & 92.61 \%\\
Car (3D Detection) & 90.51 \% & 82.16 \% & 79.33 \%\\
Car (Bird's Eye View) & 94.35 \% & 90.85 \% & 88.27 \%\\
Pedestrian (Detection) & 68.54 \% & 59.58 \% & 57.34 \%\\
Pedestrian (Orientation) & 62.69 \% & 53.38 \% & 50.86 \%\\
Pedestrian (3D Detection) & 55.44 \% & 46.50 \% & 43.20 \%\\
Pedestrian (Bird's Eye View) & 60.15 \% & 52.09 \% & 48.71 \%\\
Cyclist (Detection) & 84.01 \% & 75.29 \% & 70.60 \%\\
Cyclist (Orientation) & 83.67 \% & 74.48 \% & 69.78 \%\\
Cyclist (3D Detection) & 78.56 \% & 64.05 \% & 59.47 \%\\
Cyclist (Bird's Eye View) & 81.67 \% & 69.11 \% & 64.15 \%
\end{tabular}