\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.23 \% & 88.72 \% & 81.77 \%\\
Car (Orientation) & 95.19 \% & 88.58 \% & 81.58 \%\\
Car (3D Detection) & 25.20 \% & 16.77 \% & 14.45 \%\\
Car (Bird's Eye View) & 37.86 \% & 26.00 \% & 23.10 \%\\
Pedestrian (Detection) & 61.46 \% & 48.07 \% & 42.22 \%\\
Pedestrian (Orientation) & 56.28 \% & 43.12 \% & 37.80 \%\\
Pedestrian (3D Detection) & 18.97 \% & 12.76 \% & 11.00 \%\\
Pedestrian (Bird's Eye View) & 20.86 \% & 14.35 \% & 12.45 \%\\
Cyclist (Detection) & 71.12 \% & 56.05 \% & 48.34 \%\\
Cyclist (Orientation) & 65.05 \% & 50.13 \% & 43.51 \%\\
Cyclist (3D Detection) & 9.47 \% & 5.87 \% & 5.35 \%\\
Cyclist (Bird's Eye View) & 12.34 \% & 7.86 \% & 7.05 \%
\end{tabular}