\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 73.57 \% & 63.79 \% & 58.02 \%\\
Car (Orientation) & 73.43 \% & 63.45 \% & 57.52 \%\\
Car (3D Detection) & 61.57 \% & 47.14 \% & 41.06 \%\\
Car (Bird's Eye View) & 71.98 \% & 63.36 \% & 57.52 \%\\
Pedestrian (Detection) & 50.84 \% & 42.88 \% & 40.76 \%\\
Pedestrian (Orientation) & 46.62 \% & 38.87 \% & 36.58 \%\\
Pedestrian (3D Detection) & 34.14 \% & 28.26 \% & 26.15 \%\\
Pedestrian (Bird's Eye View) & 39.42 \% & 33.76 \% & 31.31 \%\\
Cyclist (Detection) & 67.26 \% & 55.27 \% & 50.21 \%\\
Cyclist (Orientation) & 66.51 \% & 54.49 \% & 49.51 \%\\
Cyclist (3D Detection) & 53.37 \% & 40.05 \% & 35.71 \%\\
Cyclist (Bird's Eye View) & 58.94 \% & 45.61 \% & 40.68 \%
\end{tabular}