\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.29 \% & 95.35 \% & 92.68 \%\\
Car (Orientation) & 96.27 \% & 95.20 \% & 92.41 \%\\
Car (3D Detection) & 88.25 \% & 81.65 \% & 76.98 \%\\
Car (Bird's Eye View) & 92.56 \% & 89.18 \% & 86.33 \%\\
Pedestrian (Detection) & 72.65 \% & 62.50 \% & 59.84 \%\\
Pedestrian (Orientation) & 66.69 \% & 56.33 \% & 53.53 \%\\
Pedestrian (3D Detection) & 51.65 \% & 43.43 \% & 40.97 \%\\
Pedestrian (Bird's Eye View) & 55.63 \% & 48.37 \% & 45.97 \%\\
Cyclist (Detection) & 89.49 \% & 77.51 \% & 70.60 \%\\
Cyclist (Orientation) & 89.35 \% & 77.23 \% & 70.31 \%\\
Cyclist (3D Detection) & 81.53 \% & 65.72 \% & 58.03 \%\\
Cyclist (Bird's Eye View) & 82.99 \% & 69.09 \% & 62.48 \%
\end{tabular}