\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.89 \% & 96.17 \% & 88.90 \%\\
Car (Orientation) & 96.87 \% & 96.09 \% & 88.78 \%\\
Car (3D Detection) & 91.18 \% & 82.89 \% & 77.89 \%\\
Car (Bird's Eye View) & 93.38 \% & 89.82 \% & 84.78 \%\\
Pedestrian (Detection) & 70.25 \% & 63.09 \% & 59.23 \%\\
Pedestrian (Orientation) & 64.49 \% & 56.89 \% & 53.17 \%\\
Pedestrian (3D Detection) & 50.86 \% & 45.29 \% & 42.05 \%\\
Pedestrian (Bird's Eye View) & 56.45 \% & 50.88 \% & 47.60 \%\\
Cyclist (Detection) & 87.34 \% & 81.95 \% & 74.79 \%\\
Cyclist (Orientation) & 87.17 \% & 81.07 \% & 73.92 \%\\
Cyclist (3D Detection) & 83.31 \% & 70.71 \% & 63.71 \%\\
Cyclist (Bird's Eye View) & 86.20 \% & 74.88 \% & 66.75 \%
\end{tabular}