\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.72 \% & 95.94 \% & 90.91 \%\\
Car (Orientation) & 96.70 \% & 95.83 \% & 90.74 \%\\
Car (3D Detection) & 90.98 \% & 82.35 \% & 77.26 \%\\
Car (Bird's Eye View) & 95.20 \% & 89.47 \% & 86.49 \%\\
Pedestrian (Detection) & 68.78 \% & 57.49 \% & 53.41 \%\\
Pedestrian (Orientation) & 66.79 \% & 55.06 \% & 50.92 \%\\
Pedestrian (3D Detection) & 49.04 \% & 41.85 \% & 38.29 \%\\
Pedestrian (Bird's Eye View) & 53.33 \% & 45.78 \% & 43.53 \%\\
Cyclist (Detection) & 88.75 \% & 79.41 \% & 70.40 \%\\
Cyclist (Orientation) & 88.56 \% & 78.97 \% & 69.98 \%\\
Cyclist (3D Detection) & 79.96 \% & 66.47 \% & 58.47 \%\\
Cyclist (Bird's Eye View) & 83.57 \% & 70.26 \% & 62.01 \%
\end{tabular}