\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.83 \% & 93.90 \% & 88.84 \%\\
Car (Orientation) & 96.80 \% & 93.80 \% & 88.70 \%\\
Car (3D Detection) & 91.31 \% & 82.93 \% & 78.00 \%\\
Car (Bird's Eye View) & 93.38 \% & 89.91 \% & 84.91 \%\\
Pedestrian (Detection) & 70.04 \% & 56.90 \% & 52.69 \%\\
Pedestrian (Orientation) & 66.41 \% & 53.12 \% & 48.96 \%\\
Pedestrian (3D Detection) & 49.01 \% & 41.50 \% & 37.94 \%\\
Pedestrian (Bird's Eye View) & 53.73 \% & 44.66 \% & 42.58 \%\\
Cyclist (Detection) & 89.61 \% & 80.21 \% & 73.14 \%\\
Cyclist (Orientation) & 89.44 \% & 79.93 \% & 72.84 \%\\
Cyclist (3D Detection) & 82.31 \% & 68.09 \% & 60.11 \%\\
Cyclist (Bird's Eye View) & 86.04 \% & 71.61 \% & 63.31 \%
\end{tabular}