\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.39 \% & 92.58 \% & 89.71 \%\\
Car (Orientation) & 98.36 \% & 92.43 \% & 89.49 \%\\
Car (3D Detection) & 82.11 \% & 71.70 \% & 67.08 \%\\
Car (Bird's Eye View) & 92.45 \% & 88.11 \% & 83.36 \%\\
Pedestrian (Detection) & 61.86 \% & 53.76 \% & 50.61 \%\\
Pedestrian (Orientation) & 59.25 \% & 50.22 \% & 46.95 \%\\
Pedestrian (3D Detection) & 50.32 \% & 40.97 \% & 37.87 \%\\
Pedestrian (Bird's Eye View) & 58.70 \% & 49.93 \% & 46.29 \%\\
Cyclist (Detection) & 87.70 \% & 78.04 \% & 69.27 \%\\
Cyclist (Orientation) & 87.33 \% & 76.92 \% & 68.21 \%\\
Cyclist (3D Detection) & 77.63 \% & 63.78 \% & 55.89 \%\\
Cyclist (Bird's Eye View) & 83.91 \% & 71.54 \% & 62.97 \%
\end{tabular}