\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.53 \% & 95.79 \% & 93.20 \%\\
Car (Orientation) & 96.53 \% & 95.75 \% & 93.12 \%\\
Car (3D Detection) & 89.20 \% & 82.83 \% & 80.02 \%\\
Car (Bird's Eye View) & 92.96 \% & 89.37 \% & 86.70 \%\\
Pedestrian (Detection) & 67.09 \% & 56.52 \% & 54.46 \%\\
Pedestrian (Orientation) & 63.49 \% & 52.67 \% & 50.39 \%\\
Pedestrian (3D Detection) & 53.15 \% & 44.05 \% & 41.83 \%\\
Pedestrian (Bird's Eye View) & 56.91 \% & 49.02 \% & 45.38 \%\\
Cyclist (Detection) & 82.87 \% & 71.01 \% & 63.90 \%\\
Cyclist (Orientation) & 82.65 \% & 70.51 \% & 63.37 \%\\
Cyclist (3D Detection) & 80.74 \% & 63.70 \% & 56.91 \%\\
Cyclist (Bird's Eye View) & 81.74 \% & 66.53 \% & 57.90 \%
\end{tabular}