\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.32 \% & 92.77 \% & 90.02 \%\\
Car (Orientation) & 96.31 \% & 92.62 \% & 89.81 \%\\
Car (3D Detection) & 87.85 \% & 79.34 \% & 74.58 \%\\
Car (Bird's Eye View) & 92.68 \% & 88.42 \% & 83.70 \%\\
Pedestrian (Detection) & 62.39 \% & 51.41 \% & 49.08 \%\\
Pedestrian (Orientation) & 58.44 \% & 47.30 \% & 44.83 \%\\
Pedestrian (3D Detection) & 46.00 \% & 37.42 \% & 35.12 \%\\
Pedestrian (Bird's Eye View) & 50.24 \% & 41.48 \% & 39.22 \%\\
Cyclist (Detection) & 79.83 \% & 65.72 \% & 59.32 \%\\
Cyclist (Orientation) & 79.42 \% & 65.35 \% & 58.98 \%\\
Cyclist (3D Detection) & 69.10 \% & 53.53 \% & 47.48 \%\\
Cyclist (Bird's Eye View) & 72.93 \% & 57.77 \% & 51.03 \%
\end{tabular}