\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.02 \% & 94.32 \% & 91.88 \%\\
Car (Orientation) & 98.00 \% & 94.12 \% & 91.55 \%\\
Car (3D Detection) & 90.57 \% & 81.39 \% & 76.96 \%\\
Car (Bird's Eye View) & 94.65 \% & 89.84 \% & 85.85 \%\\
Pedestrian (Detection) & 72.73 \% & 63.83 \% & 61.25 \%\\
Pedestrian (Orientation) & 65.20 \% & 55.93 \% & 53.25 \%\\
Pedestrian (3D Detection) & 54.39 \% & 45.86 \% & 43.40 \%\\
Pedestrian (Bird's Eye View) & 58.70 \% & 51.19 \% & 48.84 \%\\
Cyclist (Detection) & 81.52 \% & 72.36 \% & 67.79 \%\\
Cyclist (Orientation) & 80.90 \% & 71.40 \% & 66.55 \%\\
Cyclist (3D Detection) & 76.89 \% & 61.48 \% & 57.17 \%\\
Cyclist (Bird's Eye View) & 78.82 \% & 66.87 \% & 61.62 \%
\end{tabular}