\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.37 \% & 95.59 \% & 90.97 \%\\
Car (Orientation) & 96.36 \% & 95.53 \% & 90.87 \%\\
Car (3D Detection) & 88.46 \% & 81.92 \% & 77.38 \%\\
Car (Bird's Eye View) & 92.40 \% & 89.11 \% & 86.51 \%\\
Pedestrian (Detection) & 66.80 \% & 57.55 \% & 55.18 \%\\
Pedestrian (Orientation) & 62.44 \% & 53.03 \% & 50.51 \%\\
Pedestrian (3D Detection) & 48.48 \% & 41.36 \% & 38.92 \%\\
Pedestrian (Bird's Eye View) & 53.88 \% & 46.55 \% & 44.13 \%\\
Cyclist (Detection) & 87.56 \% & 78.31 \% & 71.82 \%\\
Cyclist (Orientation) & 83.13 \% & 73.25 \% & 66.97 \%\\
Cyclist (3D Detection) & 82.91 \% & 68.48 \% & 61.93 \%\\
Cyclist (Bird's Eye View) & 84.41 \% & 71.93 \% & 65.36 \%
\end{tabular}