\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.84 \% & 83.31 \% & 77.95 \%\\
Car (Orientation) & 93.72 \% & 82.72 \% & 77.10 \%\\
Car (3D Detection) & 27.91 \% & 19.42 \% & 16.51 \%\\
Car (Bird's Eye View) & 38.75 \% & 27.76 \% & 24.14 \%\\
Pedestrian (Detection) & 54.33 \% & 38.60 \% & 34.12 \%\\
Pedestrian (Orientation) & 35.52 \% & 24.37 \% & 21.37 \%\\
Pedestrian (3D Detection) & 14.88 \% & 10.00 \% & 8.49 \%\\
Pedestrian (Bird's Eye View) & 18.23 \% & 12.15 \% & 10.50 \%\\
Cyclist (Detection) & 58.63 \% & 38.84 \% & 33.99 \%\\
Cyclist (Orientation) & 37.61 \% & 24.18 \% & 21.44 \%\\
Cyclist (3D Detection) & 14.12 \% & 8.51 \% & 7.23 \%\\
Cyclist (Bird's Eye View) & 17.98 \% & 11.17 \% & 9.99 \%
\end{tabular}