\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.12 \% & 94.69 \% & 92.30 \%\\
Car (Orientation) & 98.10 \% & 94.57 \% & 92.08 \%\\
Car (3D Detection) & 90.78 \% & 82.12 \% & 79.36 \%\\
Car (Bird's Eye View) & 94.69 \% & 90.46 \% & 87.94 \%\\
Pedestrian (Detection) & 68.60 \% & 60.56 \% & 58.35 \%\\
Pedestrian (Orientation) & 60.95 \% & 52.12 \% & 49.85 \%\\
Pedestrian (3D Detection) & 52.08 \% & 44.97 \% & 42.68 \%\\
Pedestrian (Bird's Eye View) & 56.54 \% & 49.86 \% & 47.58 \%\\
Cyclist (Detection) & 82.68 \% & 74.71 \% & 69.99 \%\\
Cyclist (Orientation) & 81.86 \% & 73.11 \% & 68.44 \%\\
Cyclist (3D Detection) & 78.73 \% & 64.38 \% & 58.66 \%\\
Cyclist (Bird's Eye View) & 79.62 \% & 68.12 \% & 62.50 \%
\end{tabular}