\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.62 \% & 94.14 \% & 91.99 \%\\
Car (Orientation) & 95.61 \% & 94.06 \% & 91.83 \%\\
Car (3D Detection) & 87.96 \% & 81.14 \% & 77.07 \%\\
Car (Bird's Eye View) & 92.06 \% & 89.76 \% & 86.01 \%\\
Pedestrian (Detection) & 65.53 \% & 57.74 \% & 55.67 \%\\
Pedestrian (Orientation) & 60.83 \% & 52.65 \% & 50.40 \%\\
Pedestrian (3D Detection) & 49.70 \% & 41.71 \% & 39.45 \%\\
Pedestrian (Bird's Eye View) & 54.62 \% & 47.35 \% & 44.42 \%\\
Cyclist (Detection) & 81.72 \% & 74.84 \% & 69.66 \%\\
Cyclist (Orientation) & 81.58 \% & 74.14 \% & 68.93 \%\\
Cyclist (3D Detection) & 75.93 \% & 61.91 \% & 56.25 \%\\
Cyclist (Bird's Eye View) & 76.61 \% & 65.96 \% & 61.13 \%
\end{tabular}