\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.55 \% & 93.73 \% & 90.84 \%\\
Car (Orientation) & 96.52 \% & 93.59 \% & 90.58 \%\\
Car (3D Detection) & 88.52 \% & 80.40 \% & 75.28 \%\\
Car (Bird's Eye View) & 92.74 \% & 89.48 \% & 84.50 \%\\
Pedestrian (Detection) & 69.70 \% & 59.79 \% & 56.03 \%\\
Pedestrian (Orientation) & 66.74 \% & 56.50 \% & 52.72 \%\\
Pedestrian (3D Detection) & 48.85 \% & 42.76 \% & 39.49 \%\\
Pedestrian (Bird's Eye View) & 53.98 \% & 46.83 \% & 44.56 \%\\
Cyclist (Detection) & 87.31 \% & 79.55 \% & 72.47 \%\\
Cyclist (Orientation) & 87.02 \% & 79.10 \% & 72.03 \%\\
Cyclist (3D Detection) & 80.73 \% & 67.29 \% & 60.38 \%\\
Cyclist (Bird's Eye View) & 83.83 \% & 72.24 \% & 63.94 \%
\end{tabular}