\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.21 \% & 92.81 \% & 89.80 \%\\
Car (Orientation) & 96.20 \% & 92.74 \% & 89.68 \%\\
Car (3D Detection) & 87.60 \% & 78.31 \% & 73.34 \%\\
Car (Bird's Eye View) & 94.06 \% & 88.09 \% & 83.24 \%\\
Pedestrian (Detection) & 71.43 \% & 62.31 \% & 59.24 \%\\
Pedestrian (Orientation) & 70.36 \% & 60.65 \% & 57.42 \%\\
Pedestrian (3D Detection) & 53.10 \% & 45.37 \% & 41.47 \%\\
Pedestrian (Bird's Eye View) & 57.39 \% & 50.53 \% & 46.65 \%\\
Cyclist (Detection) & 86.06 \% & 78.81 \% & 71.74 \%\\
Cyclist (Orientation) & 85.79 \% & 78.31 \% & 71.24 \%\\
Cyclist (3D Detection) & 82.59 \% & 65.95 \% & 59.00 \%\\
Cyclist (Bird's Eye View) & 83.29 \% & 68.51 \% & 61.84 \%
\end{tabular}