\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.06 \% & 94.87 \% & 92.47 \%\\
Car (Orientation) & 98.04 \% & 94.79 \% & 92.35 \%\\
Car (3D Detection) & 90.90 \% & 82.23 \% & 79.67 \%\\
Car (Bird's Eye View) & 94.46 \% & 90.73 \% & 88.34 \%\\
Pedestrian (Detection) & 55.17 \% & 48.47 \% & 46.68 \%\\
Pedestrian (Orientation) & 52.14 \% & 45.18 \% & 43.18 \%\\
Pedestrian (3D Detection) & 41.38 \% & 36.89 \% & 34.95 \%\\
Pedestrian (Bird's Eye View) & 46.61 \% & 41.95 \% & 40.05 \%\\
Cyclist (Detection) & 84.72 \% & 77.15 \% & 72.34 \%\\
Cyclist (Orientation) & 84.53 \% & 76.81 \% & 71.90 \%\\
Cyclist (3D Detection) & 78.42 \% & 64.43 \% & 58.71 \%\\
Cyclist (Bird's Eye View) & 80.71 \% & 69.43 \% & 63.57 \%
\end{tabular}