\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 99.23 \% & 96.27 \% & 88.94 \%\\
Car (Orientation) & 99.09 \% & 95.87 \% & 88.47 \%\\
Car (3D Detection) & 91.76 \% & 83.32 \% & 78.29 \%\\
Car (Bird's Eye View) & 95.79 \% & 90.13 \% & 85.06 \%\\
Pedestrian (Detection) & 72.01 \% & 61.38 \% & 58.94 \%\\
Pedestrian (Orientation) & 66.85 \% & 55.80 \% & 53.17 \%\\
Pedestrian (3D Detection) & 53.54 \% & 45.26 \% & 41.55 \%\\
Pedestrian (Bird's Eye View) & 57.64 \% & 50.44 \% & 46.74 \%\\
Cyclist (Detection) & 88.45 \% & 74.76 \% & 67.89 \%\\
Cyclist (Orientation) & 87.99 \% & 74.03 \% & 67.13 \%\\
Cyclist (3D Detection) & 80.43 \% & 62.31 \% & 55.72 \%\\
Cyclist (Bird's Eye View) & 85.56 \% & 68.42 \% & 61.65 \%
\end{tabular}