\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.67 \% & 94.10 \% & 91.88 \%\\
Car (Orientation) & 97.66 \% & 94.01 \% & 91.72 \%\\
Car (3D Detection) & 90.48 \% & 81.48 \% & 77.18 \%\\
Car (Bird's Eye View) & 92.10 \% & 88.13 \% & 85.83 \%\\
Pedestrian (Detection) & 66.08 \% & 58.61 \% & 55.20 \%\\
Pedestrian (Orientation) & 59.61 \% & 51.97 \% & 48.59 \%\\
Pedestrian (3D Detection) & 50.40 \% & 42.56 \% & 40.24 \%\\
Pedestrian (Bird's Eye View) & 55.61 \% & 48.98 \% & 45.63 \%\\
Cyclist (Detection) & 83.55 \% & 74.03 \% & 69.37 \%\\
Cyclist (Orientation) & 83.11 \% & 73.37 \% & 68.60 \%\\
Cyclist (3D Detection) & 75.43 \% & 61.63 \% & 57.13 \%\\
Cyclist (Bird's Eye View) & 80.18 \% & 67.73 \% & 62.82 \%
\end{tabular}