\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.17 \% & 94.68 \% & 92.29 \%\\
Car (Orientation) & 98.14 \% & 94.49 \% & 92.02 \%\\
Car (3D Detection) & 91.03 \% & 82.12 \% & 77.67 \%\\
Car (Bird's Eye View) & 95.10 \% & 90.65 \% & 86.45 \%\\
Pedestrian (Detection) & 73.43 \% & 64.39 \% & 61.97 \%\\
Pedestrian (Orientation) & 68.49 \% & 58.93 \% & 56.15 \%\\
Pedestrian (3D Detection) & 53.10 \% & 46.84 \% & 43.45 \%\\
Pedestrian (Bird's Eye View) & 58.58 \% & 51.00 \% & 48.72 \%\\
Cyclist (Detection) & 86.06 \% & 78.13 \% & 71.95 \%\\
Cyclist (Orientation) & 85.79 \% & 77.61 \% & 71.37 \%\\
Cyclist (3D Detection) & 79.69 \% & 65.61 \% & 59.56 \%\\
Cyclist (Bird's Eye View) & 81.15 \% & 70.05 \% & 63.98 \%
\end{tabular}