\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.53 \% & 88.77 \% & 80.23 \%\\
Car (Orientation) & 90.26 \% & 87.67 \% & 79.02 \%\\
Car (3D Detection) & 84.25 \% & 74.49 \% & 66.41 \%\\
Car (Bird's Eye View) & 88.77 \% & 79.68 \% & 78.21 \%\\
Pedestrian (Detection) & 63.07 \% & 48.16 \% & 47.51 \%\\
Pedestrian (Orientation) & 56.83 \% & 43.34 \% & 42.44 \%\\
Pedestrian (3D Detection) & 44.64 \% & 36.86 \% & 35.57 \%\\
Pedestrian (Bird's Eye View) & 52.47 \% & 39.24 \% & 38.07 \%\\
Cyclist (Detection) & 74.83 \% & 58.19 \% & 56.15 \%\\
Cyclist (Orientation) & 74.57 \% & 57.83 \% & 55.63 \%\\
Cyclist (3D Detection) & 65.70 \% & 50.73 \% & 44.93 \%\\
Cyclist (Bird's Eye View) & 69.05 \% & 53.41 \% & 46.81 \%
\end{tabular}