\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.33 \% & 89.22 \% & 87.04 \%\\
Car (Orientation) & 90.19 \% & 88.76 \% & 86.38 \%\\
Car (3D Detection) & 79.05 \% & 74.99 \% & 68.30 \%\\
Car (Bird's Eye View) & 88.35 \% & 86.10 \% & 79.83 \%\\
Pedestrian (Detection) & 64.66 \% & 55.68 \% & 53.93 \%\\
Pedestrian (Orientation) & 58.05 \% & 49.66 \% & 47.88 \%\\
Pedestrian (3D Detection) & 52.08 \% & 43.53 \% & 41.49 \%\\
Pedestrian (Bird's Eye View) & 58.66 \% & 50.23 \% & 47.19 \%\\
Cyclist (Detection) & 82.59 \% & 68.57 \% & 62.37 \%\\
Cyclist (Orientation) & 82.43 \% & 68.16 \% & 61.96 \%\\
Cyclist (3D Detection) & 75.78 \% & 59.07 \% & 52.92 \%\\
Cyclist (Bird's Eye View) & 79.14 \% & 62.25 \% & 56.00 \%
\end{tabular}