\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.01 \% & 93.31 \% & 90.37 \%\\
Car (Orientation) & 95.99 \% & 93.19 \% & 90.20 \%\\
Car (3D Detection) & 87.40 \% & 79.25 \% & 74.82 \%\\
Car (Bird's Eye View) & 91.99 \% & 88.61 \% & 84.34 \%\\
Pedestrian (Detection) & 66.23 \% & 58.47 \% & 56.04 \%\\
Pedestrian (Orientation) & 64.85 \% & 56.57 \% & 53.93 \%\\
Pedestrian (3D Detection) & 51.23 \% & 45.08 \% & 42.88 \%\\
Pedestrian (Bird's Eye View) & 54.78 \% & 49.68 \% & 47.66 \%\\
Cyclist (Detection) & 86.30 \% & 78.81 \% & 74.82 \%\\
Cyclist (Orientation) & 86.21 \% & 78.63 \% & 74.49 \%\\
Cyclist (3D Detection) & 81.74 \% & 67.89 \% & 61.86 \%\\
Cyclist (Bird's Eye View) & 84.04 \% & 71.68 \% & 66.19 \%
\end{tabular}