\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.62 \% & 94.51 \% & 91.73 \%\\
Car (Orientation) & 95.61 \% & 94.44 \% & 91.62 \%\\
Car (3D Detection) & 88.89 \% & 81.27 \% & 76.25 \%\\
Car (Bird's Eye View) & 92.48 \% & 89.81 \% & 85.36 \%\\
Pedestrian (Detection) & 72.01 \% & 62.56 \% & 60.03 \%\\
Pedestrian (Orientation) & 70.96 \% & 60.74 \% & 57.99 \%\\
Pedestrian (3D Detection) & 53.01 \% & 45.88 \% & 43.27 \%\\
Pedestrian (Bird's Eye View) & 57.16 \% & 50.96 \% & 48.42 \%\\
Cyclist (Detection) & 88.79 \% & 80.67 \% & 74.81 \%\\
Cyclist (Orientation) & 88.67 \% & 80.39 \% & 74.46 \%\\
Cyclist (3D Detection) & 81.49 \% & 66.40 \% & 59.43 \%\\
Cyclist (Bird's Eye View) & 83.65 \% & 70.50 \% & 63.24 \%
\end{tabular}