\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.64 \% & 96.03 \% & 93.35 \%\\
Car (Orientation) & 96.63 \% & 95.96 \% & 93.24 \%\\
Car (3D Detection) & 91.61 \% & 85.28 \% & 80.68 \%\\
Car (Bird's Eye View) & 95.44 \% & 92.05 \% & 87.30 \%\\
Pedestrian (Detection) & 74.26 \% & 64.74 \% & 62.08 \%\\
Pedestrian (Orientation) & 71.72 \% & 61.44 \% & 58.59 \%\\
Pedestrian (3D Detection) & 55.85 \% & 49.21 \% & 46.52 \%\\
Pedestrian (Bird's Eye View) & 60.13 \% & 53.48 \% & 50.89 \%\\
Cyclist (Detection) & 92.60 \% & 84.36 \% & 78.43 \%\\
Cyclist (Orientation) & 92.46 \% & 84.08 \% & 78.07 \%\\
Cyclist (3D Detection) & 88.82 \% & 74.12 \% & 66.84 \%\\
Cyclist (Bird's Eye View) & 89.54 \% & 76.95 \% & 70.31 \%
\end{tabular}