\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.66 \% & 95.40 \% & 90.55 \%\\
Car (Orientation) & 96.64 \% & 95.27 \% & 90.37 \%\\
Car (3D Detection) & 89.38 \% & 82.13 \% & 77.33 \%\\
Car (Bird's Eye View) & 93.39 \% & 89.46 \% & 86.54 \%\\
Pedestrian (Detection) & 67.77 \% & 57.31 \% & 54.83 \%\\
Pedestrian (Orientation) & 63.73 \% & 53.12 \% & 50.46 \%\\
Pedestrian (3D Detection) & 47.99 \% & 41.04 \% & 38.71 \%\\
Pedestrian (Bird's Eye View) & 51.63 \% & 45.48 \% & 43.30 \%\\
Cyclist (Detection) & 88.17 \% & 78.69 \% & 72.16 \%\\
Cyclist (Orientation) & 87.89 \% & 78.30 \% & 71.76 \%\\
Cyclist (3D Detection) & 82.77 \% & 67.82 \% & 61.25 \%\\
Cyclist (Bird's Eye View) & 84.94 \% & 70.65 \% & 64.03 \%
\end{tabular}