\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.90 \% & 93.97 \% & 91.09 \%\\
Car (Orientation) & 96.86 \% & 93.75 \% & 90.71 \%\\
Car (3D Detection) & 92.12 \% & 83.32 \% & 78.07 \%\\
Car (Bird's Eye View) & 95.75 \% & 90.12 \% & 84.97 \%\\
Pedestrian (Detection) & 66.81 \% & 54.27 \% & 50.13 \%\\
Pedestrian (Orientation) & 63.63 \% & 51.00 \% & 46.80 \%\\
Pedestrian (3D Detection) & 50.41 \% & 41.18 \% & 38.97 \%\\
Pedestrian (Bird's Eye View) & 53.53 \% & 44.17 \% & 41.97 \%\\
Cyclist (Detection) & 87.19 \% & 72.34 \% & 65.26 \%\\
Cyclist (Orientation) & 86.78 \% & 71.73 \% & 64.73 \%\\
Cyclist (3D Detection) & 80.39 \% & 63.84 \% & 57.20 \%\\
Cyclist (Bird's Eye View) & 84.16 \% & 67.72 \% & 60.89 \%
\end{tabular}