\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.71 \% & 92.55 \% & 87.50 \%\\
Car (Orientation) & 97.62 \% & 92.23 \% & 87.09 \%\\
Car (3D Detection) & 85.85 \% & 75.57 \% & 70.47 \%\\
Car (Bird's Eye View) & 93.53 \% & 87.85 \% & 82.75 \%\\
Pedestrian (Detection) & 43.64 \% & 34.70 \% & 32.98 \%\\
Pedestrian (Orientation) & 30.04 \% & 23.24 \% & 21.82 \%\\
Pedestrian (3D Detection) & 30.25 \% & 24.06 \% & 21.84 \%\\
Pedestrian (Bird's Eye View) & 36.14 \% & 29.18 \% & 27.42 \%\\
Cyclist (Detection) & 76.76 \% & 61.19 \% & 55.78 \%\\
Cyclist (Orientation) & 73.50 \% & 57.98 \% & 52.62 \%\\
Cyclist (3D Detection) & 66.04 \% & 50.02 \% & 44.39 \%\\
Cyclist (Bird's Eye View) & 71.51 \% & 55.00 \% & 48.65 \%
\end{tabular}