\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.59 \% & 95.85 \% & 93.03 \%\\
Car (Orientation) & 96.57 \% & 95.70 \% & 92.75 \%\\
Car (3D Detection) & 91.18 \% & 82.59 \% & 77.64 \%\\
Car (Bird's Eye View) & 95.05 \% & 91.11 \% & 86.45 \%\\
Pedestrian (Detection) & 68.21 \% & 56.89 \% & 54.49 \%\\
Pedestrian (Orientation) & 56.30 \% & 46.32 \% & 44.10 \%\\
Pedestrian (3D Detection) & 49.24 \% & 40.27 \% & 37.99 \%\\
Pedestrian (Bird's Eye View) & 52.45 \% & 45.02 \% & 41.24 \%\\
Cyclist (Detection) & 88.76 \% & 79.27 \% & 72.87 \%\\
Cyclist (Orientation) & 88.43 \% & 78.64 \% & 72.22 \%\\
Cyclist (3D Detection) & 83.87 \% & 67.84 \% & 60.56 \%\\
Cyclist (Bird's Eye View) & 85.33 \% & 71.11 \% & 64.52 \%
\end{tabular}