\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.07 \% & 94.86 \% & 92.22 \%\\
Car (Orientation) & 98.03 \% & 94.74 \% & 92.03 \%\\
Car (3D Detection) & 90.44 \% & 81.39 \% & 77.02 \%\\
Car (Bird's Eye View) & 94.68 \% & 88.88 \% & 86.15 \%\\
Pedestrian (Detection) & 67.81 \% & 59.26 \% & 57.04 \%\\
Pedestrian (Orientation) & 63.95 \% & 54.84 \% & 52.36 \%\\
Pedestrian (3D Detection) & 47.18 \% & 41.93 \% & 40.08 \%\\
Pedestrian (Bird's Eye View) & 51.95 \% & 47.22 \% & 45.46 \%\\
Cyclist (Detection) & 87.34 \% & 79.75 \% & 73.05 \%\\
Cyclist (Orientation) & 87.01 \% & 79.14 \% & 72.46 \%\\
Cyclist (3D Detection) & 82.21 \% & 68.79 \% & 61.13 \%\\
Cyclist (Bird's Eye View) & 85.39 \% & 73.64 \% & 66.01 \%
\end{tabular}