\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.98 \% & 95.02 \% & 92.38 \%\\
Car (Orientation) & 97.97 \% & 94.93 \% & 92.24 \%\\
Car (3D Detection) & 90.52 \% & 81.98 \% & 78.97 \%\\
Car (Bird's Eye View) & 93.00 \% & 90.57 \% & 86.21 \%\\
Pedestrian (Detection) & 69.19 \% & 60.24 \% & 56.74 \%\\
Pedestrian (Orientation) & 66.21 \% & 56.42 \% & 52.80 \%\\
Pedestrian (3D Detection) & 48.73 \% & 41.79 \% & 39.55 \%\\
Pedestrian (Bird's Eye View) & 52.80 \% & 46.83 \% & 44.70 \%\\
Cyclist (Detection) & 88.77 \% & 80.77 \% & 73.75 \%\\
Cyclist (Orientation) & 88.63 \% & 80.12 \% & 73.11 \%\\
Cyclist (3D Detection) & 83.90 \% & 66.85 \% & 59.97 \%\\
Cyclist (Bird's Eye View) & 85.28 \% & 71.24 \% & 63.42 \%
\end{tabular}