\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.59 \% & 93.51 \% & 88.48 \%\\
Car (Orientation) & 96.46 \% & 93.13 \% & 87.96 \%\\
Car (3D Detection) & 88.63 \% & 81.83 \% & 75.10 \%\\
Car (Bird's Eye View) & 92.94 \% & 89.22 \% & 84.22 \%\\
Pedestrian (Detection) & 66.32 \% & 54.89 \% & 52.20 \%\\
Pedestrian (Orientation) & 53.43 \% & 43.07 \% & 40.55 \%\\
Pedestrian (3D Detection) & 46.31 \% & 37.15 \% & 34.76 \%\\
Pedestrian (Bird's Eye View) & 50.40 \% & 41.80 \% & 39.33 \%\\
Cyclist (Detection) & 78.09 \% & 64.38 \% & 57.48 \%\\
Cyclist (Orientation) & 75.14 \% & 61.91 \% & 55.25 \%\\
Cyclist (3D Detection) & 73.59 \% & 57.41 \% & 50.92 \%\\
Cyclist (Bird's Eye View) & 74.70 \% & 59.27 \% & 51.91 \%
\end{tabular}