\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.23 \% & 94.42 \% & 89.97 \%\\
Car (Orientation) & 98.19 \% & 94.12 \% & 89.51 \%\\
Car (3D Detection) & 90.23 \% & 81.36 \% & 76.56 \%\\
Car (Bird's Eye View) & 94.64 \% & 88.54 \% & 85.82 \%\\
Pedestrian (Detection) & 75.35 \% & 66.12 \% & 63.57 \%\\
Pedestrian (Orientation) & 66.94 \% & 57.23 \% & 54.60 \%\\
Pedestrian (3D Detection) & 52.39 \% & 44.72 \% & 42.35 \%\\
Pedestrian (Bird's Eye View) & 58.47 \% & 51.26 \% & 49.04 \%\\
Cyclist (Detection) & 82.33 \% & 73.30 \% & 67.23 \%\\
Cyclist (Orientation) & 81.57 \% & 71.48 \% & 65.19 \%\\
Cyclist (3D Detection) & 78.06 \% & 62.32 \% & 56.49 \%\\
Cyclist (Bird's Eye View) & 79.00 \% & 67.10 \% & 61.03 \%
\end{tabular}