\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.24 \% & 93.07 \% & 88.00 \%\\
Car (Orientation) & 96.16 \% & 92.37 \% & 87.06 \%\\
Car (3D Detection) & 89.88 \% & 79.32 \% & 74.19 \%\\
Car (Bird's Eye View) & 94.51 \% & 88.87 \% & 83.67 \%\\
Pedestrian (Detection) & 63.42 \% & 52.54 \% & 48.32 \%\\
Pedestrian (Orientation) & 56.49 \% & 45.44 \% & 41.38 \%\\
Pedestrian (3D Detection) & 45.97 \% & 36.72 \% & 33.16 \%\\
Pedestrian (Bird's Eye View) & 50.70 \% & 41.59 \% & 37.86 \%\\
Cyclist (Detection) & 83.21 \% & 70.24 \% & 61.44 \%\\
Cyclist (Orientation) & 80.75 \% & 66.80 \% & 58.44 \%\\
Cyclist (3D Detection) & 74.24 \% & 57.39 \% & 49.67 \%\\
Cyclist (Bird's Eye View) & 78.01 \% & 61.21 \% & 53.99 \%
\end{tabular}