\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.67 \% & 93.14 \% & 88.01 \%\\
Car (Orientation) & 96.61 \% & 92.95 \% & 87.77 \%\\
Car (3D Detection) & 85.47 \% & 74.76 \% & 67.96 \%\\
Car (Bird's Eye View) & 91.92 \% & 88.15 \% & 81.12 \%\\
Pedestrian (Detection) & 55.25 \% & 44.30 \% & 42.40 \%\\
Pedestrian (Orientation) & 50.63 \% & 39.75 \% & 37.77 \%\\
Pedestrian (3D Detection) & 38.37 \% & 31.03 \% & 29.23 \%\\
Pedestrian (Bird's Eye View) & 44.67 \% & 36.71 \% & 34.86 \%\\
Cyclist (Detection) & 82.32 \% & 72.17 \% & 65.65 \%\\
Cyclist (Orientation) & 82.09 \% & 71.78 \% & 65.28 \%\\
Cyclist (3D Detection) & 70.44 \% & 54.50 \% & 47.49 \%\\
Cyclist (Bird's Eye View) & 75.03 \% & 61.03 \% & 55.05 \%
\end{tabular}