\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.68 \% & 96.06 \% & 93.36 \%\\
Car (Orientation) & 96.64 \% & 95.95 \% & 93.17 \%\\
Car (3D Detection) & 90.80 \% & 84.67 \% & 80.14 \%\\
Car (Bird's Eye View) & 92.91 \% & 91.78 \% & 87.06 \%\\
Pedestrian (Detection) & 71.42 \% & 60.12 \% & 55.96 \%\\
Pedestrian (Orientation) & 65.55 \% & 53.97 \% & 49.97 \%\\
Pedestrian (3D Detection) & 54.62 \% & 46.36 \% & 42.57 \%\\
Pedestrian (Bird's Eye View) & 58.07 \% & 49.74 \% & 47.27 \%\\
Cyclist (Detection) & 86.92 \% & 76.15 \% & 71.33 \%\\
Cyclist (Orientation) & 86.11 \% & 75.34 \% & 70.41 \%\\
Cyclist (3D Detection) & 84.29 \% & 68.37 \% & 62.08 \%\\
Cyclist (Bird's Eye View) & 85.76 \% & 71.68 \% & 65.33 \%
\end{tabular}