\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.45 \% & 93.72 \% & 90.91 \%\\
Car (Orientation) & 96.44 \% & 93.68 \% & 90.82 \%\\
Car (3D Detection) & 88.83 \% & 82.51 \% & 75.82 \%\\
Car (Bird's Eye View) & 92.90 \% & 89.52 \% & 84.56 \%\\
Pedestrian (Detection) & 66.36 \% & 57.05 \% & 53.06 \%\\
Pedestrian (Orientation) & 63.25 \% & 53.22 \% & 49.25 \%\\
Pedestrian (3D Detection) & 51.27 \% & 42.81 \% & 40.30 \%\\
Pedestrian (Bird's Eye View) & 54.83 \% & 47.41 \% & 43.70 \%\\
Cyclist (Detection) & 86.92 \% & 73.20 \% & 66.11 \%\\
Cyclist (Orientation) & 86.72 \% & 72.87 \% & 65.65 \%\\
Cyclist (3D Detection) & 81.36 \% & 63.16 \% & 56.30 \%\\
Cyclist (Bird's Eye View) & 83.89 \% & 68.82 \% & 60.14 \%
\end{tabular}