\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.88 \% & 92.84 \% & 89.66 \%\\
Car (Orientation) & 97.85 \% & 92.62 \% & 89.30 \%\\
Car (3D Detection) & 86.08 \% & 75.74 \% & 70.59 \%\\
Car (Bird's Eye View) & 93.44 \% & 88.08 \% & 83.01 \%\\
Pedestrian (Detection) & 45.47 \% & 36.60 \% & 34.70 \%\\
Pedestrian (Orientation) & 32.10 \% & 25.09 \% & 23.42 \%\\
Pedestrian (3D Detection) & 32.32 \% & 26.19 \% & 24.25 \%\\
Pedestrian (Bird's Eye View) & 38.14 \% & 31.04 \% & 29.09 \%\\
Cyclist (Detection) & 75.79 \% & 62.93 \% & 57.31 \%\\
Cyclist (Orientation) & 72.79 \% & 60.01 \% & 54.59 \%\\
Cyclist (3D Detection) & 67.01 \% & 51.58 \% & 45.71 \%\\
Cyclist (Bird's Eye View) & 73.10 \% & 58.28 \% & 52.31 \%
\end{tabular}