\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.75 \% & 93.78 \% & 90.85 \%\\
Car (Orientation) & 96.72 \% & 93.57 \% & 90.49 \%\\
Car (3D Detection) & 89.57 \% & 82.28 \% & 75.35 \%\\
Car (Bird's Eye View) & 93.44 \% & 89.73 \% & 84.60 \%\\
Pedestrian (Detection) & 69.55 \% & 56.73 \% & 54.32 \%\\
Pedestrian (Orientation) & 65.98 \% & 53.10 \% & 50.38 \%\\
Pedestrian (3D Detection) & 52.72 \% & 43.07 \% & 39.23 \%\\
Pedestrian (Bird's Eye View) & 56.33 \% & 47.95 \% & 44.07 \%\\
Cyclist (Detection) & 86.23 \% & 69.65 \% & 62.64 \%\\
Cyclist (Orientation) & 85.79 \% & 69.10 \% & 62.14 \%\\
Cyclist (3D Detection) & 77.51 \% & 59.45 \% & 52.94 \%\\
Cyclist (Bird's Eye View) & 81.93 \% & 63.35 \% & 56.47 \%
\end{tabular}