\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.48 \% & 92.02 \% & 87.50 \%\\
Car (Orientation) & 95.07 \% & 90.93 \% & 86.03 \%\\
Car (3D Detection) & 81.43 \% & 71.22 \% & 66.58 \%\\
Car (Bird's Eye View) & 89.99 \% & 84.63 \% & 80.02 \%\\
Pedestrian (Detection) & 64.95 \% & 54.41 \% & 51.22 \%\\
Pedestrian (Orientation) & 39.98 \% & 33.46 \% & 31.35 \%\\
Pedestrian (3D Detection) & 44.97 \% & 37.46 \% & 34.51 \%\\
Pedestrian (Bird's Eye View) & 50.61 \% & 42.84 \% & 40.74 \%\\
Cyclist (Detection) & 79.94 \% & 67.72 \% & 61.91 \%\\
Cyclist (Orientation) & 74.43 \% & 61.08 \% & 55.71 \%\\
Cyclist (3D Detection) & 63.21 \% & 50.16 \% & 44.89 \%\\
Cyclist (Bird's Eye View) & 70.78 \% & 57.14 \% & 51.33 \%
\end{tabular}