\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.07 \% & 95.00 \% & 92.44 \%\\
Car (Orientation) & 96.06 \% & 94.91 \% & 92.30 \%\\
Car (3D Detection) & 90.43 \% & 81.86 \% & 77.36 \%\\
Car (Bird's Eye View) & 94.56 \% & 90.48 \% & 86.23 \%\\
Pedestrian (Detection) & 65.94 \% & 57.34 \% & 54.21 \%\\
Pedestrian (Orientation) & 63.43 \% & 54.08 \% & 50.75 \%\\
Pedestrian (3D Detection) & 47.80 \% & 40.56 \% & 38.46 \%\\
Pedestrian (Bird's Eye View) & 51.95 \% & 45.45 \% & 43.33 \%\\
Cyclist (Detection) & 88.76 \% & 79.84 \% & 73.04 \%\\
Cyclist (Orientation) & 88.66 \% & 79.34 \% & 72.56 \%\\
Cyclist (3D Detection) & 83.04 \% & 67.81 \% & 60.46 \%\\
Cyclist (Bird's Eye View) & 85.54 \% & 71.31 \% & 64.40 \%
\end{tabular}