\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.31 \% & 95.25 \% & 90.51 \%\\
Car (Orientation) & 96.26 \% & 95.08 \% & 90.28 \%\\
Car (3D Detection) & 88.81 \% & 82.16 \% & 77.48 \%\\
Car (Bird's Eye View) & 92.94 \% & 91.18 \% & 86.58 \%\\
Pedestrian (Detection) & 72.52 \% & 62.35 \% & 59.68 \%\\
Pedestrian (Orientation) & 66.61 \% & 56.19 \% & 53.42 \%\\
Pedestrian (3D Detection) & 51.60 \% & 43.27 \% & 40.84 \%\\
Pedestrian (Bird's Eye View) & 55.50 \% & 48.24 \% & 45.80 \%\\
Cyclist (Detection) & 89.45 \% & 77.20 \% & 70.36 \%\\
Cyclist (Orientation) & 89.31 \% & 76.91 \% & 70.07 \%\\
Cyclist (3D Detection) & 79.93 \% & 65.25 \% & 58.52 \%\\
Cyclist (Bird's Eye View) & 82.97 \% & 68.81 \% & 62.15 \%
\end{tabular}