\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.70 \% & 95.58 \% & 90.76 \%\\
Car (Orientation) & 96.67 \% & 95.42 \% & 90.54 \%\\
Car (3D Detection) & 90.88 \% & 82.02 \% & 77.37 \%\\
Car (Bird's Eye View) & 95.32 \% & 89.53 \% & 86.71 \%\\
Pedestrian (Detection) & 70.59 \% & 58.81 \% & 56.27 \%\\
Pedestrian (Orientation) & 66.04 \% & 54.07 \% & 51.24 \%\\
Pedestrian (3D Detection) & 51.44 \% & 43.82 \% & 41.52 \%\\
Pedestrian (Bird's Eye View) & 55.15 \% & 48.66 \% & 45.14 \%\\
Cyclist (Detection) & 88.76 \% & 80.10 \% & 73.27 \%\\
Cyclist (Orientation) & 88.39 \% & 79.46 \% & 72.63 \%\\
Cyclist (3D Detection) & 83.10 \% & 69.67 \% & 62.86 \%\\
Cyclist (Bird's Eye View) & 85.06 \% & 74.30 \% & 66.34 \%
\end{tabular}