\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.21 \% & 90.88 \% & 85.85 \%\\
Car (Orientation) & 96.17 \% & 90.75 \% & 85.68 \%\\
Car (3D Detection) & 84.37 \% & 76.03 \% & 71.44 \%\\
Car (Bird's Eye View) & 90.79 \% & 86.20 \% & 81.39 \%\\
Pedestrian (Detection) & 60.07 \% & 48.53 \% & 45.72 \%\\
Pedestrian (Orientation) & 58.60 \% & 46.82 \% & 43.91 \%\\
Pedestrian (3D Detection) & 46.01 \% & 38.89 \% & 35.46 \%\\
Pedestrian (Bird's Eye View) & 50.92 \% & 42.48 \% & 38.81 \%\\
Cyclist (Detection) & 86.53 \% & 74.74 \% & 67.00 \%\\
Cyclist (Orientation) & 86.21 \% & 74.30 \% & 66.60 \%\\
Cyclist (3D Detection) & 78.58 \% & 60.63 \% & 54.19 \%\\
Cyclist (Bird's Eye View) & 80.66 \% & 63.87 \% & 57.25 \%
\end{tabular}