\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.22 \% & 94.99 \% & 92.30 \%\\
Car (Orientation) & 96.18 \% & 94.79 \% & 92.05 \%\\
Car (3D Detection) & 88.89 \% & 81.74 \% & 77.14 \%\\
Car (Bird's Eye View) & 92.92 \% & 89.13 \% & 86.41 \%\\
Pedestrian (Detection) & 69.64 \% & 59.83 \% & 57.31 \%\\
Pedestrian (Orientation) & 63.80 \% & 54.07 \% & 51.39 \%\\
Pedestrian (3D Detection) & 51.71 \% & 43.63 \% & 41.09 \%\\
Pedestrian (Bird's Eye View) & 55.76 \% & 48.61 \% & 46.08 \%\\
Cyclist (Detection) & 88.51 \% & 80.04 \% & 73.38 \%\\
Cyclist (Orientation) & 88.16 \% & 79.45 \% & 72.77 \%\\
Cyclist (3D Detection) & 82.65 \% & 67.79 \% & 60.26 \%\\
Cyclist (Bird's Eye View) & 85.28 \% & 70.85 \% & 64.09 \%
\end{tabular}