\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.86 \% & 94.02 \% & 91.16 \%\\
Car (Orientation) & 94.84 \% & 93.88 \% & 90.92 \%\\
Car (3D Detection) & 82.79 \% & 75.64 \% & 71.00 \%\\
Car (Bird's Eye View) & 89.49 \% & 86.91 \% & 83.82 \%\\
Pedestrian (Detection) & 64.15 \% & 54.09 \% & 51.64 \%\\
Pedestrian (Orientation) & 60.55 \% & 50.06 \% & 47.36 \%\\
Pedestrian (3D Detection) & 44.09 \% & 37.38 \% & 35.19 \%\\
Pedestrian (Bird's Eye View) & 49.18 \% & 42.45 \% & 40.32 \%\\
Cyclist (Detection) & 87.06 \% & 76.44 \% & 69.68 \%\\
Cyclist (Orientation) & 86.88 \% & 76.01 \% & 69.23 \%\\
Cyclist (3D Detection) & 73.82 \% & 60.00 \% & 53.43 \%\\
Cyclist (Bird's Eye View) & 78.53 \% & 65.54 \% & 58.69 \%
\end{tabular}