\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.84 \% & 96.08 \% & 93.26 \%\\
Car (Orientation) & 98.82 \% & 95.94 \% & 93.06 \%\\
Car (3D Detection) & 92.33 \% & 83.58 \% & 80.35 \%\\
Car (Bird's Eye View) & 95.99 \% & 92.16 \% & 87.24 \%\\
Pedestrian (Detection) & 71.15 \% & 59.92 \% & 55.85 \%\\
Pedestrian (Orientation) & 68.70 \% & 56.98 \% & 52.79 \%\\
Pedestrian (3D Detection) & 51.32 \% & 43.57 \% & 41.15 \%\\
Pedestrian (Bird's Eye View) & 54.66 \% & 48.14 \% & 44.52 \%\\
Cyclist (Detection) & 88.55 \% & 79.57 \% & 70.37 \%\\
Cyclist (Orientation) & 88.42 \% & 79.31 \% & 70.11 \%\\
Cyclist (3D Detection) & 83.63 \% & 70.88 \% & 62.45 \%\\
Cyclist (Bird's Eye View) & 86.21 \% & 73.91 \% & 65.29 \%
\end{tabular}