\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.69 \% & 89.67 \% & 86.79 \%\\
Car (Orientation) & 95.29 \% & 88.37 \% & 85.01 \%\\
Car (3D Detection) & 82.89 \% & 70.88 \% & 64.47 \%\\
Car (Bird's Eye View) & 90.05 \% & 83.81 \% & 77.52 \%\\
Pedestrian (Detection) & 64.19 \% & 52.37 \% & 49.14 \%\\
Pedestrian (Orientation) & 39.62 \% & 32.33 \% & 30.09 \%\\
Pedestrian (3D Detection) & 44.50 \% & 35.87 \% & 32.86 \%\\
Pedestrian (Bird's Eye View) & 50.56 \% & 41.47 \% & 38.90 \%\\
Cyclist (Detection) & 74.01 \% & 60.04 \% & 55.71 \%\\
Cyclist (Orientation) & 65.18 \% & 51.18 \% & 47.26 \%\\
Cyclist (3D Detection) & 61.02 \% & 45.43 \% & 40.77 \%\\
Cyclist (Bird's Eye View) & 68.13 \% & 52.24 \% & 47.09 \%
\end{tabular}