\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.92 \% & 91.90 \% & 87.11 \%\\
Car (Orientation) & 95.90 \% & 91.77 \% & 86.92 \%\\
Car (3D Detection) & 86.96 \% & 75.64 \% & 70.70 \%\\
Car (Bird's Eye View) & 92.13 \% & 87.39 \% & 82.72 \%\\
Pedestrian (Detection) & 58.93 \% & 49.41 \% & 46.44 \%\\
Pedestrian (Orientation) & 57.19 \% & 47.33 \% & 44.31 \%\\
Pedestrian (3D Detection) & 47.98 \% & 39.37 \% & 36.01 \%\\
Pedestrian (Bird's Eye View) & 54.77 \% & 46.13 \% & 42.84 \%\\
Cyclist (Detection) & 86.21 \% & 73.42 \% & 66.45 \%\\
Cyclist (Orientation) & 85.94 \% & 72.81 \% & 65.84 \%\\
Cyclist (3D Detection) & 74.96 \% & 58.82 \% & 52.53 \%\\
Cyclist (Bird's Eye View) & 82.56 \% & 67.24 \% & 60.28 \%
\end{tabular}