\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.96 \% & 86.95 \% & 83.72 \%\\
Car (Orientation) & 93.98 \% & 86.07 \% & 82.76 \%\\
Car (3D Detection) & 84.20 \% & 67.90 \% & 62.53 \%\\
Car (Bird's Eye View) & 90.22 \% & 81.62 \% & 76.56 \%\\
Pedestrian (Detection) & 39.25 \% & 32.46 \% & 30.79 \%\\
Pedestrian (Orientation) & 12.16 \% & 10.69 \% & 10.20 \%\\
Pedestrian (3D Detection) & 17.64 \% & 15.58 \% & 14.60 \%\\
Pedestrian (Bird's Eye View) & 28.36 \% & 24.43 \% & 23.22 \%\\
Cyclist (Detection) & 57.51 \% & 42.56 \% & 35.46 \%\\
Cyclist (Orientation) & 28.13 \% & 21.26 \% & 17.94 \%\\
Cyclist (3D Detection) & 50.49 \% & 33.84 \% & 29.35 \%\\
Cyclist (Bird's Eye View) & 56.35 \% & 36.97 \% & 32.33 \%
\end{tabular}