\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.27 \% & 93.01 \% & 90.15 \%\\
Car (Orientation) & 96.25 \% & 92.87 \% & 89.89 \%\\
Car (3D Detection) & 87.68 \% & 78.72 \% & 72.00 \%\\
Car (Bird's Eye View) & 92.64 \% & 88.66 \% & 83.61 \%\\
Pedestrian (Detection) & 64.24 \% & 55.70 \% & 52.17 \%\\
Pedestrian (Orientation) & 56.02 \% & 47.28 \% & 43.97 \%\\
Pedestrian (3D Detection) & 47.79 \% & 40.85 \% & 37.37 \%\\
Pedestrian (Bird's Eye View) & 51.71 \% & 45.46 \% & 42.09 \%\\
Cyclist (Detection) & 84.19 \% & 72.54 \% & 65.93 \%\\
Cyclist (Orientation) & 83.49 \% & 71.09 \% & 64.60 \%\\
Cyclist (3D Detection) & 78.72 \% & 59.86 \% & 53.66 \%\\
Cyclist (Bird's Eye View) & 81.05 \% & 65.43 \% & 59.11 \%
\end{tabular}