\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.71 \% & 95.82 \% & 90.95 \%\\
Car (Orientation) & 96.70 \% & 95.71 \% & 90.81 \%\\
Car (3D Detection) & 91.62 \% & 82.78 \% & 77.97 \%\\
Car (Bird's Eye View) & 95.46 \% & 89.61 \% & 86.81 \%\\
Pedestrian (Detection) & 70.06 \% & 57.27 \% & 54.83 \%\\
Pedestrian (Orientation) & 66.61 \% & 53.76 \% & 51.11 \%\\
Pedestrian (3D Detection) & 49.10 \% & 41.76 \% & 38.38 \%\\
Pedestrian (Bird's Eye View) & 52.37 \% & 46.23 \% & 42.84 \%\\
Cyclist (Detection) & 89.87 \% & 81.85 \% & 75.16 \%\\
Cyclist (Orientation) & 89.41 \% & 81.12 \% & 74.43 \%\\
Cyclist (3D Detection) & 83.38 \% & 70.32 \% & 62.64 \%\\
Cyclist (Bird's Eye View) & 84.94 \% & 73.91 \% & 66.92 \%
\end{tabular}