\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.76 \% & 94.76 \% & 92.18 \%\\
Car (Orientation) & 95.73 \% & 94.62 \% & 91.99 \%\\
Car (3D Detection) & 87.41 \% & 80.97 \% & 76.58 \%\\
Car (Bird's Eye View) & 92.17 \% & 89.86 \% & 85.81 \%\\
Pedestrian (Detection) & 64.52 \% & 56.18 \% & 54.12 \%\\
Pedestrian (Orientation) & 60.70 \% & 51.89 \% & 49.60 \%\\
Pedestrian (3D Detection) & 46.11 \% & 39.82 \% & 37.68 \%\\
Pedestrian (Bird's Eye View) & 49.62 \% & 44.18 \% & 42.44 \%\\
Cyclist (Detection) & 86.87 \% & 79.60 \% & 73.32 \%\\
Cyclist (Orientation) & 86.74 \% & 79.22 \% & 72.91 \%\\
Cyclist (3D Detection) & 82.13 \% & 68.10 \% & 61.45 \%\\
Cyclist (Bird's Eye View) & 84.08 \% & 71.35 \% & 63.95 \%
\end{tabular}