\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.44 \% & 97.54 \% & 92.88 \%\\
Car (Orientation) & 98.44 \% & 97.43 \% & 92.72 \%\\
Car (3D Detection) & 91.82 \% & 84.51 \% & 79.80 \%\\
Car (Bird's Eye View) & 95.59 \% & 91.21 \% & 88.33 \%\\
Pedestrian (Detection) & 72.41 \% & 61.26 \% & 58.79 \%\\
Pedestrian (Orientation) & 69.64 \% & 57.91 \% & 55.24 \%\\
Pedestrian (3D Detection) & 53.49 \% & 45.61 \% & 43.10 \%\\
Pedestrian (Bird's Eye View) & 57.39 \% & 50.50 \% & 46.76 \%\\
Cyclist (Detection) & 86.71 \% & 77.59 \% & 72.35 \%\\
Cyclist (Orientation) & 86.40 \% & 76.86 \% & 71.57 \%\\
Cyclist (3D Detection) & 82.39 \% & 68.96 \% & 62.19 \%\\
Cyclist (Bird's Eye View) & 86.07 \% & 72.92 \% & 65.95 \%
\end{tabular}