\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.69 \% & 95.75 \% & 90.95 \%\\
Car (Orientation) & 96.66 \% & 95.57 \% & 90.70 \%\\
Car (3D Detection) & 89.10 \% & 80.35 \% & 76.99 \%\\
Car (Bird's Eye View) & 93.03 \% & 89.49 \% & 86.40 \%\\
Pedestrian (Detection) & 76.22 \% & 62.57 \% & 60.13 \%\\
Pedestrian (Orientation) & 70.93 \% & 57.35 \% & 54.48 \%\\
Pedestrian (3D Detection) & 52.10 \% & 42.72 \% & 39.08 \%\\
Pedestrian (Bird's Eye View) & 57.19 \% & 48.27 \% & 44.55 \%\\
Cyclist (Detection) & 89.73 \% & 75.07 \% & 67.93 \%\\
Cyclist (Orientation) & 89.54 \% & 74.74 \% & 67.54 \%\\
Cyclist (3D Detection) & 82.83 \% & 65.31 \% & 57.43 \%\\
Cyclist (Bird's Eye View) & 83.34 \% & 67.55 \% & 59.61 \%
\end{tabular}