\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.93 \% & 91.29 \% & 88.11 \%\\
Car (Orientation) & 96.86 \% & 91.06 \% & 87.69 \%\\
Car (3D Detection) & 84.80 \% & 71.64 \% & 66.49 \%\\
Car (Bird's Eye View) & 92.99 \% & 87.06 \% & 81.96 \%\\
Pedestrian (Detection) & 56.47 \% & 47.05 \% & 45.04 \%\\
Pedestrian (Orientation) & 43.87 \% & 35.59 \% & 33.59 \%\\
Pedestrian (3D Detection) & 38.47 \% & 31.64 \% & 29.30 \%\\
Pedestrian (Bird's Eye View) & 44.10 \% & 37.68 \% & 35.84 \%\\
Cyclist (Detection) & 79.63 \% & 67.62 \% & 60.81 \%\\
Cyclist (Orientation) & 77.15 \% & 64.91 \% & 58.07 \%\\
Cyclist (3D Detection) & 71.38 \% & 56.24 \% & 49.15 \%\\
Cyclist (Bird's Eye View) & 75.71 \% & 62.10 \% & 54.84 \%
\end{tabular}