\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.28 \% & 93.45 \% & 90.73 \%\\
Car (Orientation) & 95.24 \% & 93.31 \% & 90.46 \%\\
Car (3D Detection) & 84.18 \% & 76.14 \% & 71.55 \%\\
Car (Bird's Eye View) & 90.42 \% & 87.12 \% & 83.91 \%\\
Pedestrian (Detection) & 67.44 \% & 57.20 \% & 54.67 \%\\
Pedestrian (Orientation) & 63.39 \% & 52.72 \% & 49.93 \%\\
Pedestrian (3D Detection) & 51.18 \% & 42.36 \% & 39.64 \%\\
Pedestrian (Bird's Eye View) & 55.85 \% & 47.41 \% & 44.77 \%\\
Cyclist (Detection) & 85.81 \% & 71.09 \% & 64.75 \%\\
Cyclist (Orientation) & 85.37 \% & 70.52 \% & 64.21 \%\\
Cyclist (3D Detection) & 75.38 \% & 57.00 \% & 50.82 \%\\
Cyclist (Bird's Eye View) & 79.03 \% & 61.68 \% & 55.02 \%
\end{tabular}