\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.26 \% & 95.15 \% & 92.62 \%\\
Car (Orientation) & 96.23 \% & 94.99 \% & 92.36 \%\\
Car (3D Detection) & 88.66 \% & 81.95 \% & 77.40 \%\\
Car (Bird's Eye View) & 92.66 \% & 88.90 \% & 86.23 \%\\
Pedestrian (Detection) & 72.86 \% & 63.21 \% & 59.48 \%\\
Pedestrian (Orientation) & 69.95 \% & 59.73 \% & 55.85 \%\\
Pedestrian (3D Detection) & 52.69 \% & 46.50 \% & 43.10 \%\\
Pedestrian (Bird's Eye View) & 56.05 \% & 49.75 \% & 47.59 \%\\
Cyclist (Detection) & 86.82 \% & 81.36 \% & 74.40 \%\\
Cyclist (Orientation) & 86.64 \% & 80.87 \% & 73.87 \%\\
Cyclist (3D Detection) & 83.17 \% & 70.48 \% & 62.46 \%\\
Cyclist (Bird's Eye View) & 85.01 \% & 74.38 \% & 67.38 \%
\end{tabular}