\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.17 \% & 94.70 \% & 92.04 \%\\
Car (Orientation) & 98.15 \% & 94.57 \% & 91.85 \%\\
Car (3D Detection) & 90.25 \% & 81.43 \% & 76.82 \%\\
Car (Bird's Eye View) & 94.98 \% & 90.65 \% & 86.14 \%\\
Pedestrian (Detection) & 68.88 \% & 58.37 \% & 55.38 \%\\
Pedestrian (Orientation) & 63.45 \% & 52.42 \% & 49.23 \%\\
Pedestrian (3D Detection) & 52.17 \% & 43.29 \% & 40.29 \%\\
Pedestrian (Bird's Eye View) & 59.86 \% & 50.57 \% & 46.74 \%\\
Cyclist (Detection) & 86.62 \% & 80.42 \% & 73.64 \%\\
Cyclist (Orientation) & 86.43 \% & 79.70 \% & 72.96 \%\\
Cyclist (3D Detection) & 78.60 \% & 63.71 \% & 57.65 \%\\
Cyclist (Bird's Eye View) & 82.49 \% & 68.89 \% & 62.41 \%
\end{tabular}