\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.86 \% & 90.50 \% & 85.17 \%\\
Car (Orientation) & 0.63 \% & 1.51 \% & 2.03 \%\\
Car (3D Detection) & 84.00 \% & 73.32 \% & 67.82 \%\\
Car (Bird's Eye View) & 90.24 \% & 86.16 \% & 78.86 \%\\
Pedestrian (Detection) & 60.26 \% & 48.73 \% & 45.05 \%\\
Pedestrian (Orientation) & 6.41 \% & 5.39 \% & 5.14 \%\\
Pedestrian (3D Detection) & 43.04 \% & 33.89 \% & 31.46 \%\\
Pedestrian (Bird's Eye View) & 47.59 \% & 38.77 \% & 35.50 \%\\
Cyclist (Detection) & 85.05 \% & 69.52 \% & 63.17 \%\\
Cyclist (Orientation) & 0.62 \% & 0.97 \% & 0.89 \%\\
Cyclist (3D Detection) & 72.99 \% & 55.36 \% & 49.36 \%\\
Cyclist (Bird's Eye View) & 77.57 \% & 60.16 \% & 54.01 \%
\end{tabular}