\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.23 \% & 95.32 \% & 92.65 \%\\
Car (Orientation) & 98.22 \% & 95.20 \% & 92.47 \%\\
Car (3D Detection) & 90.13 \% & 82.01 \% & 77.53 \%\\
Car (Bird's Eye View) & 94.55 \% & 89.09 \% & 86.42 \%\\
Pedestrian (Detection) & 77.19 \% & 65.01 \% & 61.95 \%\\
Pedestrian (Orientation) & 43.67 \% & 36.49 \% & 34.67 \%\\
Pedestrian (3D Detection) & 55.84 \% & 47.02 \% & 42.94 \%\\
Pedestrian (Bird's Eye View) & 61.73 \% & 52.81 \% & 49.87 \%\\
Cyclist (Detection) & 89.07 \% & 80.37 \% & 74.20 \%\\
Cyclist (Orientation) & 88.92 \% & 80.09 \% & 73.79 \%\\
Cyclist (3D Detection) & 85.41 \% & 69.10 \% & 62.30 \%\\
Cyclist (Bird's Eye View) & 86.25 \% & 73.30 \% & 65.49 \%
\end{tabular}