\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.49 \% & 94.70 \% & 91.88 \%\\
Car (Orientation) & 97.49 \% & 94.61 \% & 91.75 \%\\
Car (3D Detection) & 90.04 \% & 81.58 \% & 76.53 \%\\
Car (Bird's Eye View) & 94.58 \% & 90.39 \% & 85.69 \%\\
Pedestrian (Detection) & 66.17 \% & 58.19 \% & 56.16 \%\\
Pedestrian (Orientation) & 63.76 \% & 54.79 \% & 52.50 \%\\
Pedestrian (3D Detection) & 45.91 \% & 40.27 \% & 38.03 \%\\
Pedestrian (Bird's Eye View) & 49.95 \% & 44.57 \% & 42.55 \%\\
Cyclist (Detection) & 91.30 \% & 80.18 \% & 73.97 \%\\
Cyclist (Orientation) & 91.10 \% & 79.67 \% & 73.39 \%\\
Cyclist (3D Detection) & 83.24 \% & 67.20 \% & 59.97 \%\\
Cyclist (Bird's Eye View) & 86.32 \% & 71.59 \% & 64.31 \%
\end{tabular}