\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.49 \% & 95.33 \% & 90.52 \%\\
Car (Orientation) & 96.44 \% & 95.16 \% & 90.29 \%\\
Car (3D Detection) & 88.60 \% & 81.94 \% & 77.15 \%\\
Car (Bird's Eye View) & 92.90 \% & 89.13 \% & 86.25 \%\\
Pedestrian (Detection) & 69.64 \% & 59.77 \% & 55.83 \%\\
Pedestrian (Orientation) & 65.81 \% & 55.52 \% & 51.55 \%\\
Pedestrian (3D Detection) & 48.89 \% & 42.19 \% & 38.84 \%\\
Pedestrian (Bird's Eye View) & 54.20 \% & 46.19 \% & 43.85 \%\\
Cyclist (Detection) & 88.79 \% & 78.35 \% & 71.42 \%\\
Cyclist (Orientation) & 88.13 \% & 77.72 \% & 70.82 \%\\
Cyclist (3D Detection) & 78.52 \% & 65.21 \% & 57.48 \%\\
Cyclist (Bird's Eye View) & 81.71 \% & 69.29 \% & 62.66 \%
\end{tabular}