\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.74 \% & 93.53 \% & 88.43 \%\\
Car (Orientation) & 96.66 \% & 93.24 \% & 88.08 \%\\
Car (3D Detection) & 89.44 \% & 79.98 \% & 74.65 \%\\
Car (Bird's Eye View) & 95.47 \% & 89.72 \% & 84.59 \%\\
Pedestrian (Detection) & 53.95 \% & 41.42 \% & 37.48 \%\\
Pedestrian (Orientation) & 48.56 \% & 37.16 \% & 33.51 \%\\
Pedestrian (3D Detection) & 37.84 \% & 29.82 \% & 26.53 \%\\
Pedestrian (Bird's Eye View) & 41.95 \% & 33.16 \% & 29.75 \%\\
Cyclist (Detection) & 84.99 \% & 69.67 \% & 62.91 \%\\
Cyclist (Orientation) & 84.83 \% & 69.44 \% & 62.66 \%\\
Cyclist (3D Detection) & 79.07 \% & 60.02 \% & 53.61 \%\\
Cyclist (Bird's Eye View) & 82.07 \% & 64.12 \% & 56.34 \%
\end{tabular}