\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.67 \% & 97.23 \% & 94.59 \%\\
Car (Orientation) & 97.65 \% & 97.12 \% & 94.40 \%\\
Car (3D Detection) & 91.46 \% & 84.92 \% & 81.87 \%\\
Car (Bird's Eye View) & 94.91 \% & 91.30 \% & 88.51 \%\\
Pedestrian (Detection) & 72.41 \% & 61.26 \% & 58.79 \%\\
Pedestrian (Orientation) & 69.64 \% & 57.91 \% & 55.24 \%\\
Pedestrian (3D Detection) & 53.49 \% & 45.61 \% & 43.10 \%\\
Pedestrian (Bird's Eye View) & 57.39 \% & 50.50 \% & 46.76 \%\\
Cyclist (Detection) & 88.61 \% & 77.59 \% & 72.35 \%\\
Cyclist (Orientation) & 88.28 \% & 76.86 \% & 71.57 \%\\
Cyclist (3D Detection) & 82.39 \% & 68.96 \% & 62.19 \%\\
Cyclist (Bird's Eye View) & 86.07 \% & 72.92 \% & 65.95 \%
\end{tabular}