\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.55 \% & 93.54 \% & 90.89 \%\\
Car (Orientation) & 96.53 \% & 93.44 \% & 90.71 \%\\
Car (3D Detection) & 89.16 \% & 82.35 \% & 77.72 \%\\
Car (Bird's Eye View) & 93.36 \% & 89.61 \% & 84.78 \%\\
Pedestrian (Detection) & 69.32 \% & 59.47 \% & 56.96 \%\\
Pedestrian (Orientation) & 65.98 \% & 55.83 \% & 53.07 \%\\
Pedestrian (3D Detection) & 51.69 \% & 44.64 \% & 41.44 \%\\
Pedestrian (Bird's Eye View) & 54.99 \% & 48.17 \% & 45.83 \%\\
Cyclist (Detection) & 89.85 \% & 79.78 \% & 72.85 \%\\
Cyclist (Orientation) & 89.47 \% & 79.23 \% & 72.30 \%\\
Cyclist (3D Detection) & 82.11 \% & 67.55 \% & 59.65 \%\\
Cyclist (Bird's Eye View) & 84.49 \% & 68.77 \% & 62.12 \%
\end{tabular}