\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.28 \% & 94.41 \% & 92.09 \%\\
Car (Orientation) & 98.27 \% & 94.31 \% & 91.91 \%\\
Car (3D Detection) & 90.73 \% & 81.45 \% & 77.13 \%\\
Car (Bird's Eye View) & 94.56 \% & 90.02 \% & 85.95 \%\\
Pedestrian (Detection) & 66.27 \% & 58.23 \% & 56.06 \%\\
Pedestrian (Orientation) & 60.54 \% & 52.19 \% & 49.90 \%\\
Pedestrian (3D Detection) & 50.07 \% & 43.08 \% & 40.87 \%\\
Pedestrian (Bird's Eye View) & 55.56 \% & 48.56 \% & 46.42 \%\\
Cyclist (Detection) & 84.16 \% & 74.03 \% & 69.35 \%\\
Cyclist (Orientation) & 83.92 \% & 73.38 \% & 68.69 \%\\
Cyclist (3D Detection) & 79.09 \% & 63.16 \% & 58.58 \%\\
Cyclist (Bird's Eye View) & 80.82 \% & 67.67 \% & 61.88 \%
\end{tabular}