\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.15 \% & 93.32 \% & 85.74 \%\\
Car (Orientation) & 96.05 \% & 93.00 \% & 85.15 \%\\
Car (3D Detection) & 27.34 \% & 19.51 \% & 17.26 \%\\
Car (Bird's Eye View) & 37.13 \% & 26.72 \% & 23.10 \%\\
Pedestrian (Detection) & 83.64 \% & 66.47 \% & 61.46 \%\\
Pedestrian (Orientation) & 73.49 \% & 57.58 \% & 52.85 \%\\
Pedestrian (3D Detection) & 15.90 \% & 10.32 \% & 8.67 \%\\
Pedestrian (Bird's Eye View) & 16.46 \% & 10.79 \% & 9.67 \%\\
Cyclist (Detection) & 72.73 \% & 56.80 \% & 50.30 \%\\
Cyclist (Orientation) & 61.55 \% & 46.36 \% & 41.25 \%\\
Cyclist (3D Detection) & 8.75 \% & 5.37 \% & 4.67 \%\\
Cyclist (Bird's Eye View) & 8.99 \% & 6.05 \% & 5.33 \%
\end{tabular}