\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.18 \% & 95.36 \% & 92.79 \%\\
Car (Orientation) & 96.17 \% & 95.22 \% & 92.59 \%\\
Car (3D Detection) & 91.00 \% & 82.46 \% & 79.54 \%\\
Car (Bird's Eye View) & 94.91 \% & 91.14 \% & 86.64 \%\\
Pedestrian (Detection) & 74.95 \% & 64.91 \% & 62.16 \%\\
Pedestrian (Orientation) & 73.48 \% & 62.76 \% & 59.81 \%\\
Pedestrian (3D Detection) & 56.66 \% & 48.81 \% & 45.99 \%\\
Pedestrian (Bird's Eye View) & 60.69 \% & 52.99 \% & 50.33 \%\\
Cyclist (Detection) & 91.62 \% & 85.30 \% & 78.18 \%\\
Cyclist (Orientation) & 91.51 \% & 84.98 \% & 77.86 \%\\
Cyclist (3D Detection) & 86.53 \% & 74.68 \% & 66.24 \%\\
Cyclist (Bird's Eye View) & 89.97 \% & 78.92 \% & 71.71 \%
\end{tabular}