\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.59 \% & 90.30 \% & 85.09 \%\\
Car (Orientation) & 95.23 \% & 89.36 \% & 84.03 \%\\
Car (3D Detection) & 83.34 \% & 73.17 \% & 67.93 \%\\
Car (Bird's Eye View) & 90.07 \% & 86.48 \% & 81.30 \%\\
Pedestrian (Detection) & 60.95 \% & 49.61 \% & 46.91 \%\\
Pedestrian (Orientation) & 44.50 \% & 35.49 \% & 33.38 \%\\
Pedestrian (3D Detection) & 47.83 \% & 38.66 \% & 35.70 \%\\
Pedestrian (Bird's Eye View) & 56.87 \% & 46.73 \% & 42.74 \%\\
Cyclist (Detection) & 78.48 \% & 62.50 \% & 56.34 \%\\
Cyclist (Orientation) & 77.77 \% & 61.11 \% & 54.82 \%\\
Cyclist (3D Detection) & 67.98 \% & 50.79 \% & 45.15 \%\\
Cyclist (Bird's Eye View) & 73.73 \% & 56.39 \% & 49.99 \%
\end{tabular}