\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.12 \% & 94.87 \% & 92.33 \%\\
Car (Orientation) & 96.09 \% & 94.71 \% & 92.10 \%\\
Car (3D Detection) & 90.52 \% & 81.90 \% & 77.42 \%\\
Car (Bird's Eye View) & 92.68 \% & 88.82 \% & 86.18 \%\\
Pedestrian (Detection) & 62.79 \% & 53.28 \% & 49.69 \%\\
Pedestrian (Orientation) & 58.15 \% & 47.99 \% & 44.39 \%\\
Pedestrian (3D Detection) & 44.93 \% & 37.70 \% & 34.63 \%\\
Pedestrian (Bird's Eye View) & 50.04 \% & 42.61 \% & 39.35 \%\\
Cyclist (Detection) & 84.77 \% & 75.81 \% & 69.81 \%\\
Cyclist (Orientation) & 84.47 \% & 75.20 \% & 69.12 \%\\
Cyclist (3D Detection) & 82.89 \% & 67.04 \% & 59.98 \%\\
Cyclist (Bird's Eye View) & 83.98 \% & 70.44 \% & 63.87 \%
\end{tabular}