\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.97 \% & 93.87 \% & 88.84 \%\\
Car (Orientation) & 96.86 \% & 93.58 \% & 88.45 \%\\
Car (3D Detection) & 92.03 \% & 85.47 \% & 78.64 \%\\
Car (Bird's Eye View) & 95.87 \% & 90.07 \% & 85.09 \%\\
Pedestrian (Detection) & 72.45 \% & 60.89 \% & 56.65 \%\\
Pedestrian (Orientation) & 66.35 \% & 54.88 \% & 50.82 \%\\
Pedestrian (3D Detection) & 52.81 \% & 43.45 \% & 39.74 \%\\
Pedestrian (Bird's Eye View) & 56.76 \% & 47.05 \% & 44.62 \%\\
Cyclist (Detection) & 89.11 \% & 77.36 \% & 70.31 \%\\
Cyclist (Orientation) & 88.98 \% & 76.91 \% & 69.85 \%\\
Cyclist (3D Detection) & 82.34 \% & 68.37 \% & 60.20 \%\\
Cyclist (Bird's Eye View) & 85.17 \% & 71.29 \% & 62.99 \%
\end{tabular}