\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 91.92 \% & 84.16 \% & 79.62 \%\\
Car (Orientation) & 91.77 \% & 83.89 \% & 79.24 \%\\
Car (3D Detection) & 55.93 \% & 47.34 \% & 42.60 \%\\
Car (Bird's Eye View) & 77.24 \% & 68.96 \% & 64.95 \%\\
Pedestrian (Detection) & 42.16 \% & 36.45 \% & 32.91 \%\\
Pedestrian (Orientation) & 37.32 \% & 32.13 \% & 28.94 \%\\
Pedestrian (3D Detection) & 17.60 \% & 13.96 \% & 12.70 \%\\
Pedestrian (Bird's Eye View) & 21.42 \% & 18.26 \% & 17.06 \%\\
Cyclist (Detection) & 66.94 \% & 59.78 \% & 55.63 \%\\
Cyclist (Orientation) & 65.41 \% & 58.28 \% & 54.27 \%\\
Cyclist (3D Detection) & 24.27 \% & 18.53 \% & 17.31 \%\\
Cyclist (Bird's Eye View) & 32.00 \% & 25.43 \% & 22.88 \%
\end{tabular}