\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.49 \% & 93.72 \% & 83.86 \%\\
Car (Orientation) & 96.34 \% & 93.32 \% & 83.28 \%\\
Car (3D Detection) & 27.33 \% & 19.50 \% & 17.22 \%\\
Car (Bird's Eye View) & 36.18 \% & 26.39 \% & 22.89 \%\\
Pedestrian (Detection) & 83.41 \% & 66.32 \% & 61.26 \%\\
Pedestrian (Orientation) & 75.82 \% & 59.23 \% & 54.23 \%\\
Pedestrian (3D Detection) & 15.91 \% & 10.49 \% & 8.90 \%\\
Pedestrian (Bird's Eye View) & 17.28 \% & 11.74 \% & 10.08 \%\\
Cyclist (Detection) & 74.75 \% & 54.90 \% & 48.12 \%\\
Cyclist (Orientation) & 62.82 \% & 45.61 \% & 40.26 \%\\
Cyclist (3D Detection) & 4.60 \% & 2.77 \% & 2.93 \%\\
Cyclist (Bird's Eye View) & 5.14 \% & 3.51 \% & 3.25 \%
\end{tabular}