\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.00 \% & 94.62 \% & 91.91 \%\\
Car (Orientation) & 97.99 \% & 94.52 \% & 91.74 \%\\
Car (3D Detection) & 90.97 \% & 81.62 \% & 76.90 \%\\
Car (Bird's Eye View) & 95.09 \% & 90.32 \% & 85.84 \%\\
Pedestrian (Detection) & 69.51 \% & 59.32 \% & 56.66 \%\\
Pedestrian (Orientation) & 65.69 \% & 55.00 \% & 52.09 \%\\
Pedestrian (3D Detection) & 45.95 \% & 39.65 \% & 37.29 \%\\
Pedestrian (Bird's Eye View) & 51.19 \% & 44.84 \% & 42.63 \%\\
Cyclist (Detection) & 89.29 \% & 81.41 \% & 74.88 \%\\
Cyclist (Orientation) & 89.03 \% & 80.68 \% & 74.15 \%\\
Cyclist (3D Detection) & 83.81 \% & 69.02 \% & 61.51 \%\\
Cyclist (Bird's Eye View) & 84.39 \% & 72.07 \% & 65.02 \%
\end{tabular}