\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.60 \% & 95.55 \% & 93.07 \%\\
Car (Orientation) & 96.59 \% & 95.44 \% & 92.89 \%\\
Car (3D Detection) & 91.80 \% & 85.06 \% & 80.74 \%\\
Car (Bird's Eye View) & 95.48 \% & 91.52 \% & 87.09 \%\\
Pedestrian (Detection) & 72.47 \% & 64.55 \% & 62.24 \%\\
Pedestrian (Orientation) & 69.16 \% & 60.70 \% & 58.13 \%\\
Pedestrian (3D Detection) & 53.07 \% & 47.43 \% & 45.22 \%\\
Pedestrian (Bird's Eye View) & 58.24 \% & 52.06 \% & 49.87 \%\\
Cyclist (Detection) & 90.14 \% & 84.00 \% & 77.97 \%\\
Cyclist (Orientation) & 89.90 \% & 83.51 \% & 77.41 \%\\
Cyclist (3D Detection) & 84.47 \% & 71.70 \% & 64.67 \%\\
Cyclist (Bird's Eye View) & 85.85 \% & 74.92 \% & 67.62 \%
\end{tabular}