\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.86 \% & 95.76 \% & 92.95 \%\\
Car (Orientation) & 98.85 \% & 95.57 \% & 92.64 \%\\
Car (3D Detection) & 91.53 \% & 84.50 \% & 77.85 \%\\
Car (Bird's Eye View) & 95.33 \% & 91.60 \% & 86.71 \%\\
Pedestrian (Detection) & 65.29 \% & 55.96 \% & 53.25 \%\\
Pedestrian (Orientation) & 58.87 \% & 49.33 \% & 46.53 \%\\
Pedestrian (3D Detection) & 46.71 \% & 39.29 \% & 36.64 \%\\
Pedestrian (Bird's Eye View) & 50.24 \% & 43.70 \% & 40.12 \%\\
Cyclist (Detection) & 89.84 \% & 79.19 \% & 71.93 \%\\
Cyclist (Orientation) & 89.62 \% & 78.66 \% & 71.38 \%\\
Cyclist (3D Detection) & 82.65 \% & 66.62 \% & 58.82 \%\\
Cyclist (Bird's Eye View) & 83.99 \% & 70.66 \% & 62.42 \%
\end{tabular}