\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.25 \% & 87.31 \% & 77.66 \%\\
Car (Orientation) & 95.01 \% & 86.58 \% & 76.82 \%\\
Car (3D Detection) & 21.11 \% & 16.24 \% & 14.97 \%\\
Car (Bird's Eye View) & 29.65 \% & 22.77 \% & 20.41 \%\\
Pedestrian (Detection) & 54.06 \% & 41.20 \% & 37.53 \%\\
Pedestrian (Orientation) & 33.47 \% & 24.92 \% & 22.38 \%\\
Pedestrian (3D Detection) & 13.86 \% & 8.88 \% & 7.53 \%\\
Pedestrian (Bird's Eye View) & 15.68 \% & 10.38 \% & 8.79 \%\\
Cyclist (Detection) & 55.86 \% & 38.98 \% & 34.32 \%\\
Cyclist (Orientation) & 39.05 \% & 26.87 \% & 24.09 \%\\
Cyclist (3D Detection) & 6.38 \% & 3.33 \% & 3.12 \%\\
Cyclist (Bird's Eye View) & 8.44 \% & 4.55 \% & 4.14 \%
\end{tabular}