\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.51 \% & 94.53 \% & 91.80 \%\\
Car (Orientation) & 97.50 \% & 94.43 \% & 91.66 \%\\
Car (3D Detection) & 90.94 \% & 81.55 \% & 76.74 \%\\
Car (Bird's Eye View) & 94.86 \% & 90.22 \% & 85.73 \%\\
Pedestrian (Detection) & 69.62 \% & 59.04 \% & 56.45 \%\\
Pedestrian (Orientation) & 66.07 \% & 54.85 \% & 51.96 \%\\
Pedestrian (3D Detection) & 46.09 \% & 39.74 \% & 37.41 \%\\
Pedestrian (Bird's Eye View) & 50.60 \% & 44.50 \% & 42.26 \%\\
Cyclist (Detection) & 89.31 \% & 81.52 \% & 74.71 \%\\
Cyclist (Orientation) & 89.08 \% & 80.84 \% & 74.02 \%\\
Cyclist (3D Detection) & 83.09 \% & 69.13 \% & 61.35 \%\\
Cyclist (Bird's Eye View) & 85.63 \% & 72.55 \% & 65.33 \%
\end{tabular}