\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.91 \% & 94.83 \% & 92.48 \%\\
Car (Orientation) & 95.88 \% & 94.75 \% & 92.36 \%\\
Car (3D Detection) & 90.60 \% & 82.13 \% & 79.51 \%\\
Car (Bird's Eye View) & 92.58 \% & 90.74 \% & 88.36 \%\\
Pedestrian (Detection) & 69.06 \% & 60.99 \% & 58.89 \%\\
Pedestrian (Orientation) & 63.53 \% & 55.17 \% & 52.79 \%\\
Pedestrian (3D Detection) & 52.89 \% & 44.63 \% & 42.36 \%\\
Pedestrian (Bird's Eye View) & 58.94 \% & 51.34 \% & 49.21 \%\\
Cyclist (Detection) & 89.88 \% & 81.03 \% & 75.05 \%\\
Cyclist (Orientation) & 89.76 \% & 80.36 \% & 74.40 \%\\
Cyclist (3D Detection) & 83.01 \% & 68.33 \% & 61.07 \%\\
Cyclist (Bird's Eye View) & 86.25 \% & 72.50 \% & 65.38 \%
\end{tabular}