\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.09 \% & 94.75 \% & 92.31 \%\\
Car (Orientation) & 98.08 \% & 94.60 \% & 92.12 \%\\
Car (3D Detection) & 90.59 \% & 81.92 \% & 79.25 \%\\
Car (Bird's Eye View) & 94.52 \% & 90.56 \% & 88.08 \%\\
Pedestrian (Detection) & 69.13 \% & 61.03 \% & 58.92 \%\\
Pedestrian (Orientation) & 63.52 \% & 55.11 \% & 52.81 \%\\
Pedestrian (3D Detection) & 53.27 \% & 44.74 \% & 42.63 \%\\
Pedestrian (Bird's Eye View) & 58.82 \% & 51.38 \% & 49.23 \%\\
Cyclist (Detection) & 85.05 \% & 78.30 \% & 73.30 \%\\
Cyclist (Orientation) & 84.68 \% & 77.79 \% & 72.72 \%\\
Cyclist (3D Detection) & 80.51 \% & 67.94 \% & 61.71 \%\\
Cyclist (Bird's Eye View) & 81.78 \% & 71.24 \% & 65.37 \%
\end{tabular}