\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.26 \% & 92.91 \% & 89.99 \%\\
Car (Orientation) & 96.18 \% & 92.59 \% & 89.54 \%\\
Car (3D Detection) & 83.43 \% & 74.85 \% & 68.38 \%\\
Car (Bird's Eye View) & 92.16 \% & 88.25 \% & 83.34 \%\\
Pedestrian (Detection) & 58.54 \% & 47.74 \% & 45.51 \%\\
Pedestrian (Orientation) & 38.03 \% & 30.50 \% & 28.83 \%\\
Pedestrian (3D Detection) & 39.47 \% & 32.17 \% & 29.40 \%\\
Pedestrian (Bird's Eye View) & 47.19 \% & 39.38 \% & 36.42 \%\\
Cyclist (Detection) & 81.35 \% & 67.44 \% & 61.32 \%\\
Cyclist (Orientation) & 78.65 \% & 64.57 \% & 58.66 \%\\
Cyclist (3D Detection) & 73.63 \% & 56.65 \% & 50.51 \%\\
Cyclist (Bird's Eye View) & 77.70 \% & 61.78 \% & 55.39 \%
\end{tabular}