\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.18 \% & 88.84 \% & 71.44 \%\\
Car (Orientation) & 89.88 \% & 87.83 \% & 70.48 \%\\
Car (3D Detection) & 12.57 \% & 10.85 \% & 9.06 \%\\
Car (Bird's Eye View) & 20.25 \% & 17.66 \% & 15.78 \%\\
Pedestrian (Detection) & 85.93 \% & 68.91 \% & 60.83 \%\\
Pedestrian (Orientation) & 70.56 \% & 56.30 \% & 49.84 \%\\
Pedestrian (3D Detection) & 12.65 \% & 10.66 \% & 10.08 \%\\
Pedestrian (Bird's Eye View) & 14.27 \% & 11.22 \% & 10.54 \%\\
Cyclist (Detection) & 79.80 \% & 68.99 \% & 60.19 \%\\
Cyclist (Orientation) & 58.93 \% & 49.30 \% & 43.45 \%\\
Cyclist (3D Detection) & 13.43 \% & 11.01 \% & 9.93 \%\\
Cyclist (Bird's Eye View) & 14.75 \% & 12.17 \% & 11.35 \%
\end{tabular}