\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.19 \% & 95.24 \% & 90.60 \%\\
Car (Orientation) & 96.18 \% & 95.20 \% & 90.50 \%\\
Car (3D Detection) & 88.19 \% & 81.93 \% & 77.14 \%\\
Car (Bird's Eye View) & 92.51 \% & 89.16 \% & 84.27 \%\\
Pedestrian (Detection) & 70.59 \% & 59.82 \% & 57.41 \%\\
Pedestrian (Orientation) & 65.63 \% & 54.48 \% & 51.90 \%\\
Pedestrian (3D Detection) & 52.30 \% & 44.01 \% & 41.42 \%\\
Pedestrian (Bird's Eye View) & 57.58 \% & 49.16 \% & 45.27 \%\\
Cyclist (Detection) & 86.62 \% & 73.07 \% & 68.00 \%\\
Cyclist (Orientation) & 86.21 \% & 72.40 \% & 67.25 \%\\
Cyclist (3D Detection) & 80.56 \% & 62.49 \% & 55.91 \%\\
Cyclist (Bird's Eye View) & 85.70 \% & 68.52 \% & 61.76 \%
\end{tabular}