\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.39 \% & 94.83 \% & 92.10 \%\\
Car (Orientation) & 97.37 \% & 94.70 \% & 91.89 \%\\
Car (3D Detection) & 90.28 \% & 81.73 \% & 76.96 \%\\
Car (Bird's Eye View) & 94.41 \% & 90.37 \% & 85.98 \%\\
Pedestrian (Detection) & 63.15 \% & 54.78 \% & 52.49 \%\\
Pedestrian (Orientation) & 58.90 \% & 50.09 \% & 47.66 \%\\
Pedestrian (3D Detection) & 45.70 \% & 39.94 \% & 37.66 \%\\
Pedestrian (Bird's Eye View) & 50.63 \% & 44.78 \% & 42.57 \%\\
Cyclist (Detection) & 87.38 \% & 79.29 \% & 72.46 \%\\
Cyclist (Orientation) & 87.21 \% & 78.80 \% & 71.88 \%\\
Cyclist (3D Detection) & 83.83 \% & 66.74 \% & 59.03 \%\\
Cyclist (Bird's Eye View) & 85.03 \% & 70.89 \% & 63.14 \%
\end{tabular}