\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.12 \% & 94.53 \% & 91.84 \%\\
Car (Orientation) & 96.09 \% & 94.38 \% & 91.59 \%\\
Car (3D Detection) & 87.56 \% & 79.01 \% & 76.16 \%\\
Car (Bird's Eye View) & 92.26 \% & 88.33 \% & 85.58 \%\\
Pedestrian (Detection) & 67.71 \% & 58.00 \% & 55.56 \%\\
Pedestrian (Orientation) & 63.05 \% & 52.63 \% & 50.00 \%\\
Pedestrian (3D Detection) & 48.70 \% & 40.68 \% & 38.51 \%\\
Pedestrian (Bird's Eye View) & 54.45 \% & 46.18 \% & 44.01 \%\\
Cyclist (Detection) & 87.44 \% & 76.56 \% & 69.94 \%\\
Cyclist (Orientation) & 87.14 \% & 75.99 \% & 69.38 \%\\
Cyclist (3D Detection) & 80.89 \% & 62.37 \% & 56.12 \%\\
Cyclist (Bird's Eye View) & 84.13 \% & 67.19 \% & 60.87 \%
\end{tabular}