\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.31 \% & 95.38 \% & 92.71 \%\\
Car (Orientation) & 96.29 \% & 95.23 \% & 92.44 \%\\
Car (3D Detection) & 88.24 \% & 81.67 \% & 77.00 \%\\
Car (Bird's Eye View) & 92.57 \% & 89.20 \% & 86.35 \%\\
Pedestrian (Detection) & 72.98 \% & 62.91 \% & 60.31 \%\\
Pedestrian (Orientation) & 66.97 \% & 56.65 \% & 53.90 \%\\
Pedestrian (3D Detection) & 51.80 \% & 43.61 \% & 41.17 \%\\
Pedestrian (Bird's Eye View) & 55.81 \% & 48.61 \% & 46.25 \%\\
Cyclist (Detection) & 89.67 \% & 77.82 \% & 70.82 \%\\
Cyclist (Orientation) & 89.53 \% & 77.53 \% & 70.52 \%\\
Cyclist (3D Detection) & 81.72 \% & 65.98 \% & 58.18 \%\\
Cyclist (Bird's Eye View) & 83.14 \% & 69.29 \% & 61.31 \%
\end{tabular}