\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.18 \% & 92.84 \% & 89.83 \%\\
Car (Orientation) & 96.07 \% & 92.36 \% & 89.18 \%\\
Car (3D Detection) & 88.47 \% & 78.85 \% & 73.86 \%\\
Car (Bird's Eye View) & 92.87 \% & 89.21 \% & 85.80 \%\\
Pedestrian (Detection) & 71.27 \% & 59.51 \% & 57.03 \%\\
Pedestrian (Orientation) & 62.39 \% & 50.90 \% & 48.34 \%\\
Pedestrian (3D Detection) & 53.41 \% & 44.79 \% & 41.96 \%\\
Pedestrian (Bird's Eye View) & 58.35 \% & 49.82 \% & 47.17 \%\\
Cyclist (Detection) & 88.54 \% & 75.41 \% & 69.45 \%\\
Cyclist (Orientation) & 88.21 \% & 74.52 \% & 68.33 \%\\
Cyclist (3D Detection) & 83.80 \% & 66.61 \% & 59.99 \%\\
Cyclist (Bird's Eye View) & 87.76 \% & 71.48 \% & 64.69 \%
\end{tabular}