\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.56 \% & 95.66 \% & 93.06 \%\\
Car (Orientation) & 96.55 \% & 95.55 \% & 92.88 \%\\
Car (3D Detection) & 91.31 \% & 82.78 \% & 79.87 \%\\
Car (Bird's Eye View) & 95.17 \% & 89.56 \% & 86.90 \%\\
Pedestrian (Detection) & 73.98 \% & 64.13 \% & 60.14 \%\\
Pedestrian (Orientation) & 72.07 \% & 61.63 \% & 57.48 \%\\
Pedestrian (3D Detection) & 54.81 \% & 47.02 \% & 44.49 \%\\
Pedestrian (Bird's Eye View) & 58.37 \% & 51.77 \% & 48.23 \%\\
Cyclist (Detection) & 92.08 \% & 86.37 \% & 79.01 \%\\
Cyclist (Orientation) & 91.94 \% & 85.95 \% & 78.58 \%\\
Cyclist (3D Detection) & 86.59 \% & 74.86 \% & 66.46 \%\\
Cyclist (Bird's Eye View) & 90.17 \% & 78.93 \% & 70.14 \%
\end{tabular}