\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.31 \% & 91.17 \% & 81.20 \%\\
Car (Orientation) & 96.14 \% & 90.67 \% & 80.59 \%\\
Car (3D Detection) & 79.97 \% & 69.13 \% & 58.57 \%\\
Car (Bird's Eye View) & 89.10 \% & 83.14 \% & 71.41 \%\\
Pedestrian (Detection) & 84.74 \% & 71.45 \% & 64.58 \%\\
Pedestrian (Orientation) & 68.99 \% & 57.17 \% & 51.48 \%\\
Pedestrian (3D Detection) & 48.65 \% & 40.11 \% & 35.99 \%\\
Pedestrian (Bird's Eye View) & 56.52 \% & 47.80 \% & 43.36 \%\\
Cyclist (Detection) & 85.62 \% & 76.88 \% & 66.04 \%\\
Cyclist (Orientation) & 82.07 \% & 72.37 \% & 62.06 \%\\
Cyclist (3D Detection) & 75.20 \% & 58.96 \% & 50.41 \%\\
Cyclist (Bird's Eye View) & 81.44 \% & 65.76 \% & 56.47 \%
\end{tabular}