\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.30 \% & 93.42 \% & 87.92 \%\\
Car (Orientation) & 96.28 \% & 93.32 \% & 87.72 \%\\
Car (3D Detection) & 77.77 \% & 55.88 \% & 48.95 \%\\
Car (Bird's Eye View) & 84.63 \% & 67.17 \% & 59.88 \%\\
Pedestrian (Detection) & 69.38 \% & 55.61 \% & 51.41 \%\\
Pedestrian (Orientation) & 55.41 \% & 43.11 \% & 39.45 \%\\
Pedestrian (3D Detection) & 34.89 \% & 25.12 \% & 22.09 \%\\
Pedestrian (Bird's Eye View) & 40.47 \% & 29.62 \% & 26.40 \%\\
Cyclist (Detection) & 73.77 \% & 58.10 \% & 51.64 \%\\
Cyclist (Orientation) & 63.56 \% & 47.16 \% & 42.19 \%\\
Cyclist (3D Detection) & 58.09 \% & 37.75 \% & 32.76 \%\\
Cyclist (Bird's Eye View) & 62.39 \% & 41.59 \% & 36.65 \%
\end{tabular}