\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.82 \% & 90.48 \% & 80.71 \%\\
Car (Orientation) & 95.54 \% & 89.76 \% & 79.86 \%\\
Car (3D Detection) & 26.30 \% & 18.77 \% & 16.10 \%\\
Car (Bird's Eye View) & 34.68 \% & 24.20 \% & 21.08 \%\\
Pedestrian (Detection) & 68.39 \% & 50.79 \% & 46.06 \%\\
Pedestrian (Orientation) & 60.20 \% & 44.00 \% & 39.60 \%\\
Pedestrian (3D Detection) & 16.03 \% & 10.32 \% & 8.76 \%\\
Pedestrian (Bird's Eye View) & 16.60 \% & 10.81 \% & 9.12 \%\\
Cyclist (Detection) & 60.57 \% & 40.16 \% & 34.45 \%\\
Cyclist (Orientation) & 47.86 \% & 31.74 \% & 27.18 \%\\
Cyclist (3D Detection) & 5.58 \% & 3.50 \% & 3.07 \%\\
Cyclist (Bird's Eye View) & 7.15 \% & 4.43 \% & 4.15 \%
\end{tabular}