\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.52 \% & 95.62 \% & 92.86 \%\\
Car (Orientation) & 96.51 \% & 95.53 \% & 92.71 \%\\
Car (3D Detection) & 91.58 \% & 83.06 \% & 80.08 \%\\
Car (Bird's Eye View) & 95.19 \% & 91.54 \% & 86.82 \%\\
Pedestrian (Detection) & 72.65 \% & 62.73 \% & 60.12 \%\\
Pedestrian (Orientation) & 70.33 \% & 59.69 \% & 56.89 \%\\
Pedestrian (3D Detection) & 54.04 \% & 47.09 \% & 44.56 \%\\
Pedestrian (Bird's Eye View) & 57.95 \% & 51.37 \% & 49.08 \%\\
Cyclist (Detection) & 92.86 \% & 83.21 \% & 77.12 \%\\
Cyclist (Orientation) & 92.71 \% & 82.95 \% & 76.78 \%\\
Cyclist (3D Detection) & 87.91 \% & 73.47 \% & 66.17 \%\\
Cyclist (Bird's Eye View) & 88.99 \% & 75.74 \% & 68.47 \%
\end{tabular}