\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.06 \% & 95.17 \% & 92.66 \%\\
Car (Orientation) & 96.03 \% & 95.01 \% & 92.41 \%\\
Car (3D Detection) & 88.51 \% & 80.97 \% & 76.74 \%\\
Car (Bird's Eye View) & 93.94 \% & 90.52 \% & 86.25 \%\\
Pedestrian (Detection) & 75.03 \% & 65.68 \% & 61.95 \%\\
Pedestrian (Orientation) & 67.96 \% & 58.63 \% & 54.77 \%\\
Pedestrian (3D Detection) & 54.65 \% & 48.36 \% & 44.98 \%\\
Pedestrian (Bird's Eye View) & 60.07 \% & 52.41 \% & 50.28 \%\\
Cyclist (Detection) & 82.60 \% & 74.52 \% & 66.04 \%\\
Cyclist (Orientation) & 82.08 \% & 73.62 \% & 65.27 \%\\
Cyclist (3D Detection) & 77.64 \% & 64.10 \% & 58.00 \%\\
Cyclist (Bird's Eye View) & 80.83 \% & 67.66 \% & 61.36 \%
\end{tabular}