\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.10 \% & 93.56 \% & 90.68 \%\\
Car (Orientation) & 96.07 \% & 93.47 \% & 90.51 \%\\
Car (3D Detection) & 88.34 \% & 80.13 \% & 75.04 \%\\
Car (Bird's Eye View) & 92.79 \% & 89.33 \% & 84.35 \%\\
Pedestrian (Detection) & 65.07 \% & 52.45 \% & 50.20 \%\\
Pedestrian (Orientation) & 62.51 \% & 49.58 \% & 47.17 \%\\
Pedestrian (3D Detection) & 46.51 \% & 39.03 \% & 35.61 \%\\
Pedestrian (Bird's Eye View) & 51.76 \% & 42.61 \% & 40.51 \%\\
Cyclist (Detection) & 84.98 \% & 70.46 \% & 65.55 \%\\
Cyclist (Orientation) & 84.82 \% & 70.13 \% & 65.13 \%\\
Cyclist (3D Detection) & 78.35 \% & 61.94 \% & 55.70 \%\\
Cyclist (Bird's Eye View) & 81.30 \% & 66.29 \% & 59.58 \%
\end{tabular}