\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.07 \% & 94.78 \% & 92.32 \%\\
Car (Orientation) & 98.05 \% & 94.62 \% & 92.13 \%\\
Car (3D Detection) & 90.57 \% & 81.92 \% & 79.24 \%\\
Car (Bird's Eye View) & 94.46 \% & 90.61 \% & 88.12 \%\\
Pedestrian (Detection) & 69.06 \% & 60.99 \% & 58.89 \%\\
Pedestrian (Orientation) & 63.53 \% & 55.17 \% & 52.79 \%\\
Pedestrian (3D Detection) & 52.89 \% & 44.63 \% & 42.36 \%\\
Pedestrian (Bird's Eye View) & 58.94 \% & 51.34 \% & 49.21 \%\\
Cyclist (Detection) & 85.19 \% & 78.29 \% & 73.15 \%\\
Cyclist (Orientation) & 84.80 \% & 77.75 \% & 72.57 \%\\
Cyclist (3D Detection) & 80.49 \% & 67.87 \% & 61.57 \%\\
Cyclist (Bird's Eye View) & 82.10 \% & 71.57 \% & 65.37 \%
\end{tabular}