\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.07 \% & 94.70 \% & 91.96 \%\\
Car (Orientation) & 96.05 \% & 94.53 \% & 91.71 \%\\
Car (3D Detection) & 90.52 \% & 79.95 \% & 76.86 \%\\
Car (Bird's Eye View) & 94.53 \% & 88.88 \% & 86.00 \%\\
Pedestrian (Detection) & 60.30 \% & 51.66 \% & 49.41 \%\\
Pedestrian (Orientation) & 54.34 \% & 45.58 \% & 43.16 \%\\
Pedestrian (3D Detection) & 46.29 \% & 39.28 \% & 37.08 \%\\
Pedestrian (Bird's Eye View) & 50.59 \% & 44.18 \% & 41.92 \%\\
Cyclist (Detection) & 84.07 \% & 75.35 \% & 69.03 \%\\
Cyclist (Orientation) & 83.68 \% & 74.64 \% & 68.29 \%\\
Cyclist (3D Detection) & 78.70 \% & 63.30 \% & 57.12 \%\\
Cyclist (Bird's Eye View) & 82.32 \% & 68.73 \% & 62.18 \%
\end{tabular}