\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.64 \% & 94.49 \% & 91.83 \%\\
Car (Orientation) & 97.62 \% & 94.34 \% & 91.59 \%\\
Car (3D Detection) & 90.57 \% & 81.11 \% & 76.62 \%\\
Car (Bird's Eye View) & 94.67 \% & 88.54 \% & 85.75 \%\\
Pedestrian (Detection) & 62.76 \% & 54.75 \% & 51.89 \%\\
Pedestrian (Orientation) & 59.89 \% & 51.36 \% & 48.44 \%\\
Pedestrian (3D Detection) & 46.46 \% & 40.40 \% & 38.20 \%\\
Pedestrian (Bird's Eye View) & 49.77 \% & 44.54 \% & 42.09 \%\\
Cyclist (Detection) & 86.23 \% & 77.67 \% & 71.68 \%\\
Cyclist (Orientation) & 86.12 \% & 77.45 \% & 71.45 \%\\
Cyclist (3D Detection) & 79.80 \% & 65.45 \% & 59.43 \%\\
Cyclist (Bird's Eye View) & 83.15 \% & 69.52 \% & 63.38 \%
\end{tabular}