\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.84 \% & 93.79 \% & 90.88 \%\\
Car (Orientation) & 96.81 \% & 93.58 \% & 90.54 \%\\
Car (3D Detection) & 91.57 \% & 82.40 \% & 75.45 \%\\
Car (Bird's Eye View) & 95.55 \% & 89.74 \% & 84.63 \%\\
Pedestrian (Detection) & 69.02 \% & 56.42 \% & 54.05 \%\\
Pedestrian (Orientation) & 65.53 \% & 52.83 \% & 50.14 \%\\
Pedestrian (3D Detection) & 52.46 \% & 43.08 \% & 40.67 \%\\
Pedestrian (Bird's Eye View) & 55.95 \% & 47.69 \% & 43.91 \%\\
Cyclist (Detection) & 86.64 \% & 69.91 \% & 60.86 \%\\
Cyclist (Orientation) & 86.10 \% & 69.29 \% & 60.34 \%\\
Cyclist (3D Detection) & 76.26 \% & 58.80 \% & 52.21 \%\\
Cyclist (Bird's Eye View) & 81.50 \% & 63.24 \% & 56.42 \%
\end{tabular}