\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.29 \% & 95.16 \% & 92.45 \%\\
Car (Orientation) & 96.28 \% & 95.05 \% & 92.28 \%\\
Car (3D Detection) & 88.90 \% & 81.93 \% & 77.30 \%\\
Car (Bird's Eye View) & 93.04 \% & 89.17 \% & 86.37 \%\\
Pedestrian (Detection) & 66.20 \% & 55.96 \% & 53.24 \%\\
Pedestrian (Orientation) & 63.10 \% & 52.47 \% & 49.57 \%\\
Pedestrian (3D Detection) & 50.88 \% & 42.65 \% & 39.78 \%\\
Pedestrian (Bird's Eye View) & 55.61 \% & 47.77 \% & 45.17 \%\\
Cyclist (Detection) & 89.35 \% & 81.76 \% & 74.93 \%\\
Cyclist (Orientation) & 89.09 \% & 81.13 \% & 74.30 \%\\
Cyclist (3D Detection) & 84.02 \% & 70.37 \% & 62.57 \%\\
Cyclist (Bird's Eye View) & 85.69 \% & 74.06 \% & 67.11 \%
\end{tabular}