\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.08 \% & 95.05 \% & 92.42 \%\\
Car (Orientation) & 96.07 \% & 94.90 \% & 92.22 \%\\
Car (3D Detection) & 90.14 \% & 81.88 \% & 77.15 \%\\
Car (Bird's Eye View) & 92.66 \% & 88.74 \% & 85.97 \%\\
Pedestrian (Detection) & 72.82 \% & 63.47 \% & 60.96 \%\\
Pedestrian (Orientation) & 70.91 \% & 61.02 \% & 58.28 \%\\
Pedestrian (3D Detection) & 54.29 \% & 47.19 \% & 43.49 \%\\
Pedestrian (Bird's Eye View) & 59.73 \% & 52.43 \% & 48.73 \%\\
Cyclist (Detection) & 85.76 \% & 79.22 \% & 72.35 \%\\
Cyclist (Orientation) & 85.58 \% & 78.44 \% & 71.60 \%\\
Cyclist (3D Detection) & 82.22 \% & 67.33 \% & 60.04 \%\\
Cyclist (Bird's Eye View) & 84.60 \% & 71.86 \% & 63.84 \%
\end{tabular}