\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.38 \% & 93.43 \% & 90.63 \%\\
Car (Orientation) & 96.37 \% & 93.39 \% & 90.52 \%\\
Car (3D Detection) & 87.72 \% & 80.00 \% & 75.00 \%\\
Car (Bird's Eye View) & 92.47 \% & 89.00 \% & 84.10 \%\\
Pedestrian (Detection) & 69.10 \% & 59.52 \% & 55.41 \%\\
Pedestrian (Orientation) & 64.03 \% & 53.71 \% & 49.66 \%\\
Pedestrian (3D Detection) & 53.62 \% & 44.42 \% & 40.40 \%\\
Pedestrian (Bird's Eye View) & 57.53 \% & 49.45 \% & 45.42 \%\\
Cyclist (Detection) & 86.41 \% & 72.49 \% & 65.60 \%\\
Cyclist (Orientation) & 85.88 \% & 71.00 \% & 64.05 \%\\
Cyclist (3D Detection) & 77.93 \% & 61.32 \% & 54.83 \%\\
Cyclist (Bird's Eye View) & 82.98 \% & 65.88 \% & 59.11 \%
\end{tabular}