\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.49 \% & 95.14 \% & 92.42 \%\\
Car (Orientation) & 98.48 \% & 95.03 \% & 92.24 \%\\
Car (3D Detection) & 92.19 \% & 82.52 \% & 77.55 \%\\
Car (Bird's Eye View) & 95.56 \% & 91.03 \% & 86.36 \%\\
Pedestrian (Detection) & 66.33 \% & 58.20 \% & 55.97 \%\\
Pedestrian (Orientation) & 63.60 \% & 54.92 \% & 52.36 \%\\
Pedestrian (3D Detection) & 44.88 \% & 40.31 \% & 37.53 \%\\
Pedestrian (Bird's Eye View) & 49.33 \% & 44.89 \% & 43.01 \%\\
Cyclist (Detection) & 88.19 \% & 81.73 \% & 75.09 \%\\
Cyclist (Orientation) & 88.04 \% & 81.24 \% & 74.58 \%\\
Cyclist (3D Detection) & 80.92 \% & 67.55 \% & 60.36 \%\\
Cyclist (Bird's Eye View) & 84.37 \% & 71.88 \% & 64.96 \%
\end{tabular}