\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.05 \% & 94.67 \% & 91.86 \%\\
Car (Orientation) & 96.02 \% & 94.45 \% & 91.54 \%\\
Car (3D Detection) & 87.33 \% & 80.47 \% & 75.91 \%\\
Car (Bird's Eye View) & 92.07 \% & 89.88 \% & 85.59 \%\\
Pedestrian (Detection) & 67.81 \% & 57.92 \% & 55.25 \%\\
Pedestrian (Orientation) & 62.33 \% & 52.27 \% & 49.44 \%\\
Pedestrian (3D Detection) & 48.48 \% & 40.39 \% & 37.92 \%\\
Pedestrian (Bird's Eye View) & 53.09 \% & 45.68 \% & 43.30 \%\\
Cyclist (Detection) & 85.13 \% & 75.14 \% & 68.14 \%\\
Cyclist (Orientation) & 84.62 \% & 74.64 \% & 67.64 \%\\
Cyclist (3D Detection) & 78.58 \% & 62.28 \% & 54.88 \%\\
Cyclist (Bird's Eye View) & 81.25 \% & 66.82 \% & 59.37 \%
\end{tabular}