\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.08 \% & 95.70 \% & 88.27 \%\\
Car (Orientation) & 98.04 \% & 95.58 \% & 88.09 \%\\
Car (3D Detection) & 83.21 \% & 67.37 \% & 59.91 \%\\
Car (Bird's Eye View) & 88.55 \% & 78.94 \% & 69.74 \%\\
Pedestrian (Detection) & 69.70 \% & 58.09 \% & 54.45 \%\\
Pedestrian (Orientation) & 54.16 \% & 43.35 \% & 40.10 \%\\
Pedestrian (3D Detection) & 43.05 \% & 32.74 \% & 29.54 \%\\
Pedestrian (Bird's Eye View) & 50.26 \% & 38.92 \% & 35.12 \%\\
Cyclist (Detection) & 77.71 \% & 62.10 \% & 55.78 \%\\
Cyclist (Orientation) & 57.93 \% & 45.94 \% & 41.93 \%\\
Cyclist (3D Detection) & 62.82 \% & 43.90 \% & 39.21 \%\\
Cyclist (Bird's Eye View) & 68.29 \% & 49.37 \% & 43.79 \%
\end{tabular}