\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.73 \% & 95.17 \% & 92.10 \%\\
Car (Orientation) & 96.70 \% & 95.00 \% & 91.82 \%\\
Car (3D Detection) & 91.37 \% & 81.96 \% & 76.71 \%\\
Car (Bird's Eye View) & 95.41 \% & 89.00 \% & 85.73 \%\\
Pedestrian (Detection) & 68.58 \% & 58.10 \% & 55.58 \%\\
Pedestrian (Orientation) & 51.89 \% & 43.29 \% & 40.98 \%\\
Pedestrian (3D Detection) & 52.79 \% & 44.38 \% & 41.29 \%\\
Pedestrian (Bird's Eye View) & 56.24 \% & 48.47 \% & 45.73 \%\\
Cyclist (Detection) & 80.27 \% & 68.30 \% & 63.00 \%\\
Cyclist (Orientation) & 79.81 \% & 67.26 \% & 61.75 \%\\
Cyclist (3D Detection) & 76.15 \% & 59.71 \% & 53.67 \%\\
Cyclist (Bird's Eye View) & 78.57 \% & 62.94 \% & 56.62 \%
\end{tabular}