\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.18 \% & 95.47 \% & 92.78 \%\\
Car (Orientation) & 96.15 \% & 95.31 \% & 92.55 \%\\
Car (3D Detection) & 90.40 \% & 82.20 \% & 77.41 \%\\
Car (Bird's Eye View) & 94.69 \% & 91.05 \% & 86.56 \%\\
Pedestrian (Detection) & 70.72 \% & 61.08 \% & 58.80 \%\\
Pedestrian (Orientation) & 67.80 \% & 57.39 \% & 54.78 \%\\
Pedestrian (3D Detection) & 50.16 \% & 44.04 \% & 41.17 \%\\
Pedestrian (Bird's Eye View) & 53.74 \% & 47.67 \% & 45.55 \%\\
Cyclist (Detection) & 91.91 \% & 82.24 \% & 75.46 \%\\
Cyclist (Orientation) & 91.73 \% & 81.91 \% & 75.11 \%\\
Cyclist (3D Detection) & 86.01 \% & 70.34 \% & 63.34 \%\\
Cyclist (Bird's Eye View) & 87.14 \% & 74.34 \% & 66.45 \%
\end{tabular}