\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.79 \% & 94.59 \% & 92.10 \%\\
Car (Orientation) & 95.77 \% & 94.45 \% & 91.89 \%\\
Car (3D Detection) & 87.65 \% & 81.28 \% & 76.79 \%\\
Car (Bird's Eye View) & 92.17 \% & 88.37 \% & 85.75 \%\\
Pedestrian (Detection) & 67.45 \% & 58.31 \% & 55.92 \%\\
Pedestrian (Orientation) & 63.49 \% & 53.82 \% & 51.30 \%\\
Pedestrian (3D Detection) & 47.66 \% & 41.95 \% & 38.90 \%\\
Pedestrian (Bird's Eye View) & 51.47 \% & 46.36 \% & 44.10 \%\\
Cyclist (Detection) & 86.26 \% & 79.22 \% & 72.68 \%\\
Cyclist (Orientation) & 86.15 \% & 78.82 \% & 72.28 \%\\
Cyclist (3D Detection) & 80.43 \% & 68.45 \% & 60.93 \%\\
Cyclist (Bird's Eye View) & 83.03 \% & 71.51 \% & 63.85 \%
\end{tabular}