\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.88 \% & 93.96 \% & 91.07 \%\\
Car (Orientation) & 96.84 \% & 93.72 \% & 90.67 \%\\
Car (3D Detection) & 91.91 \% & 83.05 \% & 77.84 \%\\
Car (Bird's Eye View) & 95.67 \% & 90.04 \% & 84.91 \%\\
Pedestrian (Detection) & 69.60 \% & 56.83 \% & 54.42 \%\\
Pedestrian (Orientation) & 66.21 \% & 53.43 \% & 50.74 \%\\
Pedestrian (3D Detection) & 51.78 \% & 42.55 \% & 38.79 \%\\
Pedestrian (Bird's Eye View) & 55.88 \% & 46.16 \% & 43.84 \%\\
Cyclist (Detection) & 86.83 \% & 72.34 \% & 63.31 \%\\
Cyclist (Orientation) & 86.48 \% & 71.75 \% & 62.80 \%\\
Cyclist (3D Detection) & 80.35 \% & 63.96 \% & 55.62 \%\\
Cyclist (Bird's Eye View) & 84.31 \% & 67.46 \% & 58.87 \%
\end{tabular}