\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.33 \% & 93.33 \% & 88.22 \%\\
Car (Orientation) & 96.29 \% & 93.19 \% & 88.04 \%\\
Car (3D Detection) & 86.95 \% & 76.51 \% & 71.53 \%\\
Car (Bird's Eye View) & 91.80 \% & 86.31 \% & 81.30 \%\\
Pedestrian (Detection) & 60.07 \% & 48.40 \% & 46.41 \%\\
Pedestrian (Orientation) & 56.31 \% & 44.65 \% & 42.43 \%\\
Pedestrian (3D Detection) & 44.42 \% & 36.58 \% & 33.52 \%\\
Pedestrian (Bird's Eye View) & 48.51 \% & 40.24 \% & 37.03 \%\\
Cyclist (Detection) & 83.10 \% & 69.49 \% & 64.59 \%\\
Cyclist (Orientation) & 82.85 \% & 69.15 \% & 64.18 \%\\
Cyclist (3D Detection) & 71.42 \% & 57.27 \% & 51.38 \%\\
Cyclist (Bird's Eye View) & 77.26 \% & 61.70 \% & 55.43 \%
\end{tabular}