\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.28 \% & 93.30 \% & 88.20 \%\\
Car (Orientation) & 96.23 \% & 93.15 \% & 88.01 \%\\
Car (3D Detection) & 86.56 \% & 76.35 \% & 71.51 \%\\
Car (Bird's Eye View) & 91.33 \% & 86.11 \% & 81.17 \%\\
Pedestrian (Detection) & 59.38 \% & 48.11 \% & 46.18 \%\\
Pedestrian (Orientation) & 56.72 \% & 45.27 \% & 43.12 \%\\
Pedestrian (3D Detection) & 42.38 \% & 34.98 \% & 33.19 \%\\
Pedestrian (Bird's Eye View) & 46.62 \% & 40.08 \% & 38.33 \%\\
Cyclist (Detection) & 84.35 \% & 68.53 \% & 63.76 \%\\
Cyclist (Orientation) & 84.11 \% & 68.28 \% & 63.43 \%\\
Cyclist (3D Detection) & 75.17 \% & 57.61 \% & 51.65 \%\\
Cyclist (Bird's Eye View) & 79.60 \% & 63.26 \% & 56.95 \%
\end{tabular}