\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.12 \% & 93.24 \% & 88.17 \%\\
Car (Orientation) & 96.07 \% & 93.03 \% & 87.88 \%\\
Car (3D Detection) & 87.23 \% & 76.95 \% & 71.77 \%\\
Car (Bird's Eye View) & 92.41 \% & 86.86 \% & 81.66 \%\\
Pedestrian (Detection) & 69.33 \% & 57.61 \% & 53.89 \%\\
Pedestrian (Orientation) & 66.31 \% & 54.27 \% & 50.39 \%\\
Pedestrian (3D Detection) & 48.23 \% & 40.61 \% & 37.31 \%\\
Pedestrian (Bird's Eye View) & 52.14 \% & 44.32 \% & 42.11 \%\\
Cyclist (Detection) & 85.03 \% & 70.73 \% & 63.88 \%\\
Cyclist (Orientation) & 84.76 \% & 70.45 \% & 63.54 \%\\
Cyclist (3D Detection) & 78.68 \% & 60.86 \% & 54.10 \%\\
Cyclist (Bird's Eye View) & 82.06 \% & 65.96 \% & 57.51 \%
\end{tabular}