\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.03 \% & 94.48 \% & 92.14 \%\\
Car (Orientation) & 98.02 \% & 94.40 \% & 92.00 \%\\
Car (3D Detection) & 90.86 \% & 81.72 \% & 77.32 \%\\
Car (Bird's Eye View) & 92.73 \% & 90.07 \% & 85.98 \%\\
Pedestrian (Detection) & 65.21 \% & 57.87 \% & 55.84 \%\\
Pedestrian (Orientation) & 58.89 \% & 51.11 \% & 48.91 \%\\
Pedestrian (3D Detection) & 51.83 \% & 43.98 \% & 41.61 \%\\
Pedestrian (Bird's Eye View) & 57.38 \% & 50.06 \% & 47.76 \%\\
Cyclist (Detection) & 82.02 \% & 72.27 \% & 67.48 \%\\
Cyclist (Orientation) & 81.85 \% & 71.91 \% & 67.07 \%\\
Cyclist (3D Detection) & 75.47 \% & 60.42 \% & 55.89 \%\\
Cyclist (Bird's Eye View) & 76.94 \% & 64.49 \% & 59.14 \%
\end{tabular}