\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.96 \% & 95.08 \% & 90.50 \%\\
Car (Orientation) & 95.95 \% & 94.98 \% & 90.35 \%\\
Car (3D Detection) & 88.62 \% & 79.94 \% & 74.91 \%\\
Car (Bird's Eye View) & 92.77 \% & 89.18 \% & 86.03 \%\\
Pedestrian (Detection) & 62.75 \% & 53.84 \% & 51.66 \%\\
Pedestrian (Orientation) & 60.61 \% & 51.27 \% & 48.88 \%\\
Pedestrian (3D Detection) & 45.03 \% & 38.75 \% & 36.70 \%\\
Pedestrian (Bird's Eye View) & 50.07 \% & 43.70 \% & 41.72 \%\\
Cyclist (Detection) & 87.11 \% & 75.55 \% & 69.43 \%\\
Cyclist (Orientation) & 86.89 \% & 75.19 \% & 69.05 \%\\
Cyclist (3D Detection) & 80.61 \% & 66.12 \% & 60.10 \%\\
Cyclist (Bird's Eye View) & 84.14 \% & 69.81 \% & 63.53 \%
\end{tabular}