\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.76 \% & 94.72 \% & 92.19 \%\\
Car (Orientation) & 95.74 \% & 94.59 \% & 91.99 \%\\
Car (3D Detection) & 87.70 \% & 81.24 \% & 76.79 \%\\
Car (Bird's Eye View) & 92.12 \% & 90.09 \% & 85.88 \%\\
Pedestrian (Detection) & 69.16 \% & 59.54 \% & 57.33 \%\\
Pedestrian (Orientation) & 64.46 \% & 54.48 \% & 51.93 \%\\
Pedestrian (3D Detection) & 47.01 \% & 40.97 \% & 38.88 \%\\
Pedestrian (Bird's Eye View) & 51.66 \% & 45.39 \% & 43.51 \%\\
Cyclist (Detection) & 89.23 \% & 80.07 \% & 73.76 \%\\
Cyclist (Orientation) & 89.10 \% & 79.46 \% & 73.17 \%\\
Cyclist (3D Detection) & 83.00 \% & 67.61 \% & 60.09 \%\\
Cyclist (Bird's Eye View) & 84.64 \% & 71.21 \% & 64.61 \%
\end{tabular}