\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.64 \% & 95.18 \% & 92.48 \%\\
Car (Orientation) & 97.62 \% & 95.10 \% & 92.33 \%\\
Car (3D Detection) & 89.69 \% & 81.49 \% & 76.71 \%\\
Car (Bird's Eye View) & 94.23 \% & 90.78 \% & 86.14 \%\\
Pedestrian (Detection) & 62.55 \% & 53.52 \% & 50.04 \%\\
Pedestrian (Orientation) & 60.89 \% & 51.15 \% & 47.65 \%\\
Pedestrian (3D Detection) & 45.08 \% & 38.52 \% & 36.23 \%\\
Pedestrian (Bird's Eye View) & 50.38 \% & 43.58 \% & 41.36 \%\\
Cyclist (Detection) & 85.78 \% & 75.64 \% & 70.35 \%\\
Cyclist (Orientation) & 85.63 \% & 75.28 \% & 69.93 \%\\
Cyclist (3D Detection) & 80.01 \% & 65.94 \% & 58.71 \%\\
Cyclist (Bird's Eye View) & 83.44 \% & 70.88 \% & 63.43 \%
\end{tabular}