\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.67 \% & 93.52 \% & 90.85 \%\\
Car (Orientation) & 96.66 \% & 93.42 \% & 90.67 \%\\
Car (3D Detection) & 89.11 \% & 82.54 \% & 77.77 \%\\
Car (Bird's Eye View) & 92.88 \% & 89.33 \% & 84.55 \%\\
Pedestrian (Detection) & 71.44 \% & 58.34 \% & 55.96 \%\\
Pedestrian (Orientation) & 65.78 \% & 53.06 \% & 50.67 \%\\
Pedestrian (3D Detection) & 51.82 \% & 42.96 \% & 40.76 \%\\
Pedestrian (Bird's Eye View) & 55.52 \% & 47.75 \% & 44.19 \%\\
Cyclist (Detection) & 88.33 \% & 75.52 \% & 68.68 \%\\
Cyclist (Orientation) & 88.07 \% & 75.23 \% & 68.40 \%\\
Cyclist (3D Detection) & 80.36 \% & 63.53 \% & 57.17 \%\\
Cyclist (Bird's Eye View) & 81.01 \% & 66.50 \% & 60.09 \%
\end{tabular}