\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.16 \% & 90.97 \% & 85.55 \%\\
Car (Orientation) & 93.97 \% & 89.41 \% & 83.95 \%\\
Car (3D Detection) & 84.00 \% & 74.13 \% & 67.03 \%\\
Car (Bird's Eye View) & 90.61 \% & 86.01 \% & 79.29 \%\\
Pedestrian (Detection) & 66.52 \% & 51.95 \% & 47.83 \%\\
Pedestrian (Orientation) & 62.13 \% & 47.84 \% & 43.71 \%\\
Pedestrian (3D Detection) & 47.33 \% & 37.75 \% & 34.10 \%\\
Pedestrian (Bird's Eye View) & 53.09 \% & 41.55 \% & 39.18 \%\\
Cyclist (Detection) & 86.76 \% & 80.04 \% & 73.45 \%\\
Cyclist (Orientation) & 86.59 \% & 79.73 \% & 73.13 \%\\
Cyclist (3D Detection) & 76.21 \% & 63.01 \% & 55.85 \%\\
Cyclist (Bird's Eye View) & 81.53 \% & 67.27 \% & 60.88 \%
\end{tabular}