\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.26 \% & 93.54 \% & 88.49 \%\\
Car (Orientation) & 96.23 \% & 93.41 \% & 88.34 \%\\
Car (3D Detection) & 88.87 \% & 80.32 \% & 75.10 \%\\
Car (Bird's Eye View) & 93.14 \% & 89.48 \% & 84.42 \%\\
Pedestrian (Detection) & 66.69 \% & 56.87 \% & 54.68 \%\\
Pedestrian (Orientation) & 62.90 \% & 52.69 \% & 50.27 \%\\
Pedestrian (3D Detection) & 47.90 \% & 41.03 \% & 37.98 \%\\
Pedestrian (Bird's Eye View) & 52.73 \% & 45.07 \% & 42.75 \%\\
Cyclist (Detection) & 88.99 \% & 78.71 \% & 72.03 \%\\
Cyclist (Orientation) & 88.78 \% & 78.34 \% & 71.63 \%\\
Cyclist (3D Detection) & 82.36 \% & 66.25 \% & 59.70 \%\\
Cyclist (Bird's Eye View) & 85.91 \% & 71.44 \% & 63.41 \%
\end{tabular}