\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.21 \% & 94.90 \% & 92.20 \%\\
Car (Orientation) & 96.20 \% & 94.80 \% & 92.01 \%\\
Car (3D Detection) & 88.37 \% & 81.51 \% & 76.87 \%\\
Car (Bird's Eye View) & 92.50 \% & 88.74 \% & 86.00 \%\\
Pedestrian (Detection) & 68.45 \% & 58.84 \% & 56.32 \%\\
Pedestrian (Orientation) & 63.98 \% & 53.96 \% & 51.04 \%\\
Pedestrian (3D Detection) & 49.88 \% & 42.60 \% & 39.51 \%\\
Pedestrian (Bird's Eye View) & 53.36 \% & 46.98 \% & 43.98 \%\\
Cyclist (Detection) & 87.17 \% & 73.88 \% & 66.85 \%\\
Cyclist (Orientation) & 87.03 \% & 73.65 \% & 66.61 \%\\
Cyclist (3D Detection) & 77.02 \% & 59.87 \% & 53.35 \%\\
Cyclist (Bird's Eye View) & 78.14 \% & 64.36 \% & 56.99 \%
\end{tabular}