\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.06 \% & 94.77 \% & 92.28 \%\\
Car (Orientation) & 96.05 \% & 94.64 \% & 92.09 \%\\
Car (3D Detection) & 90.52 \% & 81.68 \% & 77.26 \%\\
Car (Bird's Eye View) & 94.55 \% & 90.42 \% & 86.11 \%\\
Pedestrian (Detection) & 64.59 \% & 55.66 \% & 53.53 \%\\
Pedestrian (Orientation) & 61.12 \% & 52.04 \% & 49.58 \%\\
Pedestrian (3D Detection) & 45.19 \% & 39.64 \% & 37.55 \%\\
Pedestrian (Bird's Eye View) & 48.82 \% & 44.09 \% & 42.19 \%\\
Cyclist (Detection) & 87.34 \% & 80.46 \% & 73.68 \%\\
Cyclist (Orientation) & 87.22 \% & 79.97 \% & 73.19 \%\\
Cyclist (3D Detection) & 81.29 \% & 66.78 \% & 59.32 \%\\
Cyclist (Bird's Eye View) & 84.06 \% & 71.93 \% & 64.07 \%
\end{tabular}