\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.13 \% & 94.76 \% & 92.15 \%\\
Car (Orientation) & 98.12 \% & 94.65 \% & 91.97 \%\\
Car (3D Detection) & 90.84 \% & 81.57 \% & 76.98 \%\\
Car (Bird's Eye View) & 94.98 \% & 90.44 \% & 86.06 \%\\
Pedestrian (Detection) & 68.92 \% & 59.19 \% & 56.75 \%\\
Pedestrian (Orientation) & 65.18 \% & 54.90 \% & 52.21 \%\\
Pedestrian (3D Detection) & 47.88 \% & 41.45 \% & 38.63 \%\\
Pedestrian (Bird's Eye View) & 52.46 \% & 46.89 \% & 44.77 \%\\
Cyclist (Detection) & 84.45 \% & 78.21 \% & 71.71 \%\\
Cyclist (Orientation) & 84.31 \% & 77.80 \% & 71.26 \%\\
Cyclist (3D Detection) & 78.87 \% & 66.05 \% & 59.42 \%\\
Cyclist (Bird's Eye View) & 81.32 \% & 70.44 \% & 62.95 \%
\end{tabular}