\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.45 \% & 91.53 \% & 84.33 \%\\
Car (Orientation) & 93.31 \% & 91.20 \% & 83.91 \%\\
Car (3D Detection) & 30.76 \% & 21.20 \% & 18.76 \%\\
Car (Bird's Eye View) & 38.33 \% & 26.57 \% & 23.74 \%\\
Pedestrian (Detection) & 78.10 \% & 61.53 \% & 56.86 \%\\
Pedestrian (Orientation) & 72.60 \% & 56.30 \% & 51.61 \%\\
Pedestrian (3D Detection) & 16.68 \% & 10.98 \% & 9.20 \%\\
Pedestrian (Bird's Eye View) & 19.10 \% & 12.53 \% & 10.78 \%\\
Cyclist (Detection) & 66.20 \% & 46.54 \% & 41.04 \%\\
Cyclist (Orientation) & 54.99 \% & 39.08 \% & 34.69 \%\\
Cyclist (3D Detection) & 9.28 \% & 5.48 \% & 4.70 \%\\
Cyclist (Bird's Eye View) & 12.20 \% & 7.15 \% & 6.14 \%
\end{tabular}