\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.58 \% & 93.32 \% & 90.24 \%\\
Car (Orientation) & 96.54 \% & 93.20 \% & 90.03 \%\\
Car (3D Detection) & 88.59 \% & 79.37 \% & 72.21 \%\\
Car (Bird's Eye View) & 93.14 \% & 89.45 \% & 84.22 \%\\
Pedestrian (Detection) & 67.45 \% & 57.65 \% & 53.89 \%\\
Pedestrian (Orientation) & 65.42 \% & 54.99 \% & 51.21 \%\\
Pedestrian (3D Detection) & 47.58 \% & 40.99 \% & 37.65 \%\\
Pedestrian (Bird's Eye View) & 52.86 \% & 45.01 \% & 42.73 \%\\
Cyclist (Detection) & 87.20 \% & 77.74 \% & 70.77 \%\\
Cyclist (Orientation) & 86.98 \% & 77.41 \% & 70.42 \%\\
Cyclist (3D Detection) & 82.09 \% & 65.86 \% & 59.02 \%\\
Cyclist (Bird's Eye View) & 85.75 \% & 71.27 \% & 64.25 \%
\end{tabular}