\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.18 \% & 90.68 \% & 87.93 \%\\
Car (Orientation) & 96.16 \% & 90.57 \% & 87.72 \%\\
Car (3D Detection) & 85.06 \% & 76.29 \% & 71.65 \%\\
Car (Bird's Eye View) & 91.98 \% & 86.22 \% & 81.50 \%\\
Pedestrian (Detection) & 60.72 \% & 48.22 \% & 45.55 \%\\
Pedestrian (Orientation) & 58.47 \% & 45.97 \% & 43.24 \%\\
Pedestrian (3D Detection) & 45.26 \% & 37.02 \% & 33.35 \%\\
Pedestrian (Bird's Eye View) & 49.91 \% & 40.37 \% & 36.64 \%\\
Cyclist (Detection) & 88.58 \% & 69.36 \% & 62.27 \%\\
Cyclist (Orientation) & 88.31 \% & 69.14 \% & 62.03 \%\\
Cyclist (3D Detection) & 75.54 \% & 56.99 \% & 50.90 \%\\
Cyclist (Bird's Eye View) & 78.55 \% & 60.23 \% & 53.91 \%
\end{tabular}