\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.56 \% & 93.30 \% & 89.42 \%\\
Car (Orientation) & 97.51 \% & 93.04 \% & 89.02 \%\\
Car (3D Detection) & 88.99 \% & 77.90 \% & 73.48 \%\\
Car (Bird's Eye View) & 93.84 \% & 87.71 \% & 85.21 \%\\
Pedestrian (Detection) & 62.04 \% & 53.36 \% & 51.05 \%\\
Pedestrian (Orientation) & 57.39 \% & 48.35 \% & 45.79 \%\\
Pedestrian (3D Detection) & 46.97 \% & 39.75 \% & 36.98 \%\\
Pedestrian (Bird's Eye View) & 51.36 \% & 44.18 \% & 41.91 \%\\
Cyclist (Detection) & 82.53 \% & 70.88 \% & 65.31 \%\\
Cyclist (Orientation) & 82.33 \% & 70.33 \% & 64.77 \%\\
Cyclist (3D Detection) & 75.70 \% & 58.98 \% & 53.75 \%\\
Cyclist (Bird's Eye View) & 79.14 \% & 64.76 \% & 60.05 \%
\end{tabular}