\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.78 \% & 93.24 \% & 90.40 \%\\
Car (Orientation) & 95.77 \% & 93.16 \% & 90.26 \%\\
Car (3D Detection) & 88.68 \% & 80.17 \% & 75.12 \%\\
Car (Bird's Eye View) & 92.69 \% & 89.20 \% & 84.23 \%\\
Pedestrian (Detection) & 60.86 \% & 51.35 \% & 49.27 \%\\
Pedestrian (Orientation) & 58.85 \% & 48.72 \% & 46.44 \%\\
Pedestrian (3D Detection) & 47.24 \% & 39.41 \% & 37.20 \%\\
Pedestrian (Bird's Eye View) & 51.07 \% & 43.97 \% & 41.05 \%\\
Cyclist (Detection) & 85.59 \% & 72.47 \% & 67.50 \%\\
Cyclist (Orientation) & 85.41 \% & 72.16 \% & 67.13 \%\\
Cyclist (3D Detection) & 77.79 \% & 62.04 \% & 55.86 \%\\
Cyclist (Bird's Eye View) & 80.24 \% & 64.80 \% & 58.49 \%
\end{tabular}