\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.91 \% & 96.09 \% & 93.29 \%\\
Car (Orientation) & 98.89 \% & 95.97 \% & 93.09 \%\\
Car (3D Detection) & 92.52 \% & 85.59 \% & 80.61 \%\\
Car (Bird's Eye View) & 95.92 \% & 92.19 \% & 87.27 \%\\
Pedestrian (Detection) & 69.53 \% & 59.58 \% & 55.61 \%\\
Pedestrian (Orientation) & 66.86 \% & 56.31 \% & 52.35 \%\\
Pedestrian (3D Detection) & 49.80 \% & 42.37 \% & 38.80 \%\\
Pedestrian (Bird's Eye View) & 53.30 \% & 45.71 \% & 43.53 \%\\
Cyclist (Detection) & 87.42 \% & 80.52 \% & 71.56 \%\\
Cyclist (Orientation) & 87.31 \% & 80.22 \% & 71.29 \%\\
Cyclist (3D Detection) & 83.99 \% & 69.92 \% & 61.58 \%\\
Cyclist (Bird's Eye View) & 84.61 \% & 72.69 \% & 64.18 \%
\end{tabular}