\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.55 \% & 93.33 \% & 88.47 \%\\
Car (Orientation) & 96.54 \% & 93.25 \% & 88.34 \%\\
Car (3D Detection) & 89.48 \% & 82.63 \% & 77.94 \%\\
Car (Bird's Eye View) & 93.41 \% & 89.59 \% & 84.81 \%\\
Pedestrian (Detection) & 64.59 \% & 54.67 \% & 51.05 \%\\
Pedestrian (Orientation) & 63.03 \% & 52.78 \% & 49.09 \%\\
Pedestrian (3D Detection) & 47.14 \% & 39.65 \% & 37.05 \%\\
Pedestrian (Bird's Eye View) & 50.55 \% & 43.98 \% & 40.63 \%\\
Cyclist (Detection) & 87.41 \% & 79.56 \% & 73.08 \%\\
Cyclist (Orientation) & 87.27 \% & 79.23 \% & 72.73 \%\\
Cyclist (3D Detection) & 81.82 \% & 66.71 \% & 59.37 \%\\
Cyclist (Bird's Eye View) & 82.32 \% & 69.12 \% & 62.68 \%
\end{tabular}