\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.26 \% & 94.79 \% & 92.43 \%\\
Car (Orientation) & 98.25 \% & 94.68 \% & 92.25 \%\\
Car (3D Detection) & 91.12 \% & 83.71 \% & 79.74 \%\\
Car (Bird's Eye View) & 95.10 \% & 90.78 \% & 88.41 \%\\
Pedestrian (Detection) & 66.13 \% & 57.22 \% & 55.00 \%\\
Pedestrian (Orientation) & 62.55 \% & 53.46 \% & 50.98 \%\\
Pedestrian (3D Detection) & 46.60 \% & 40.25 \% & 38.30 \%\\
Pedestrian (Bird's Eye View) & 50.74 \% & 45.27 \% & 43.28 \%\\
Cyclist (Detection) & 83.72 \% & 75.35 \% & 69.56 \%\\
Cyclist (Orientation) & 83.55 \% & 74.99 \% & 69.20 \%\\
Cyclist (3D Detection) & 78.76 \% & 64.48 \% & 58.61 \%\\
Cyclist (Bird's Eye View) & 80.99 \% & 68.43 \% & 62.46 \%
\end{tabular}