\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.67 \% & 94.39 \% & 91.63 \%\\
Car (Orientation) & 95.64 \% & 94.24 \% & 91.40 \%\\
Car (3D Detection) & 86.13 \% & 78.13 \% & 73.34 \%\\
Car (Bird's Eye View) & 91.32 \% & 88.14 \% & 85.23 \%\\
Pedestrian (Detection) & 65.50 \% & 55.95 \% & 52.88 \%\\
Pedestrian (Orientation) & 63.23 \% & 53.19 \% & 49.95 \%\\
Pedestrian (3D Detection) & 48.73 \% & 40.57 \% & 37.77 \%\\
Pedestrian (Bird's Eye View) & 53.95 \% & 45.47 \% & 42.77 \%\\
Cyclist (Detection) & 88.50 \% & 77.47 \% & 70.23 \%\\
Cyclist (Orientation) & 88.26 \% & 77.13 \% & 69.88 \%\\
Cyclist (3D Detection) & 75.65 \% & 60.50 \% & 53.81 \%\\
Cyclist (Bird's Eye View) & 81.56 \% & 66.71 \% & 59.60 \%
\end{tabular}