\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.93 \% & 94.01 \% & 91.12 \%\\
Car (Orientation) & 96.89 \% & 93.78 \% & 90.74 \%\\
Car (3D Detection) & 91.96 \% & 83.29 \% & 78.05 \%\\
Car (Bird's Eye View) & 95.76 \% & 90.11 \% & 84.96 \%\\
Pedestrian (Detection) & 67.64 \% & 56.69 \% & 52.51 \%\\
Pedestrian (Orientation) & 64.46 \% & 53.26 \% & 48.99 \%\\
Pedestrian (3D Detection) & 52.05 \% & 42.76 \% & 39.03 \%\\
Pedestrian (Bird's Eye View) & 55.34 \% & 45.85 \% & 42.02 \%\\
Cyclist (Detection) & 87.24 \% & 72.46 \% & 65.43 \%\\
Cyclist (Orientation) & 86.93 \% & 71.96 \% & 64.97 \%\\
Cyclist (3D Detection) & 80.94 \% & 64.23 \% & 55.74 \%\\
Cyclist (Bird's Eye View) & 84.65 \% & 68.06 \% & 61.18 \%
\end{tabular}