\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.84 \% & 83.31 \% & 77.95 \%\\
Car (Orientation) & 93.72 \% & 82.72 \% & 77.10 \%\\
Car (3D Detection) & 29.86 \% & 21.26 \% & 18.27 \%\\
Car (Bird's Eye View) & 43.83 \% & 32.31 \% & 28.48 \%\\
Pedestrian (Detection) & 54.33 \% & 38.60 \% & 34.12 \%\\
Pedestrian (Orientation) & 35.52 \% & 24.37 \% & 21.37 \%\\
Pedestrian (3D Detection) & 16.09 \% & 10.27 \% & 8.76 \%\\
Pedestrian (Bird's Eye View) & 19.67 \% & 13.47 \% & 11.75 \%\\
Cyclist (Detection) & 58.63 \% & 38.84 \% & 33.99 \%\\
Cyclist (Orientation) & 37.61 \% & 24.18 \% & 21.44 \%\\
Cyclist (3D Detection) & 14.59 \% & 8.78 \% & 7.50 \%\\
Cyclist (Bird's Eye View) & 19.68 \% & 11.66 \% & 10.33 \%
\end{tabular}