\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.18 \% & 94.68 \% & 92.07 \%\\
Car (Orientation) & 96.17 \% & 94.58 \% & 91.91 \%\\
Car (3D Detection) & 85.81 \% & 79.68 \% & 75.41 \%\\
Car (Bird's Eye View) & 91.62 \% & 89.88 \% & 85.57 \%\\
Pedestrian (Detection) & 67.58 \% & 60.03 \% & 57.71 \%\\
Pedestrian (Orientation) & 63.92 \% & 55.58 \% & 53.01 \%\\
Pedestrian (3D Detection) & 48.59 \% & 41.66 \% & 38.73 \%\\
Pedestrian (Bird's Eye View) & 53.85 \% & 47.05 \% & 44.75 \%\\
Cyclist (Detection) & 89.05 \% & 86.24 \% & 81.37 \%\\
Cyclist (Orientation) & 88.86 \% & 86.00 \% & 81.12 \%\\
Cyclist (3D Detection) & 80.46 \% & 66.29 \% & 61.33 \%\\
Cyclist (Bird's Eye View) & 83.33 \% & 72.74 \% & 67.53 \%
\end{tabular}