\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.30 \% & 92.10 \% & 89.08 \%\\
Car (Orientation) & 95.27 \% & 91.87 \% & 88.73 \%\\
Car (3D Detection) & 85.97 \% & 76.78 \% & 71.77 \%\\
Car (Bird's Eye View) & 91.50 \% & 87.68 \% & 84.06 \%\\
Pedestrian (Detection) & 55.56 \% & 46.92 \% & 44.74 \%\\
Pedestrian (Orientation) & 46.71 \% & 38.59 \% & 36.37 \%\\
Pedestrian (3D Detection) & 42.23 \% & 34.87 \% & 32.38 \%\\
Pedestrian (Bird's Eye View) & 47.95 \% & 40.91 \% & 38.49 \%\\
Cyclist (Detection) & 81.21 \% & 68.79 \% & 62.26 \%\\
Cyclist (Orientation) & 80.70 \% & 67.88 \% & 61.40 \%\\
Cyclist (3D Detection) & 69.53 \% & 55.39 \% & 49.12 \%\\
Cyclist (Bird's Eye View) & 77.99 \% & 63.75 \% & 56.39 \%
\end{tabular}