\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.60 \% & 94.35 \% & 92.05 \%\\
Car (Orientation) & 97.59 \% & 94.26 \% & 91.90 \%\\
Car (3D Detection) & 90.48 \% & 81.45 \% & 77.14 \%\\
Car (Bird's Eye View) & 94.00 \% & 89.98 \% & 85.98 \%\\
Pedestrian (Detection) & 65.34 \% & 58.22 \% & 55.94 \%\\
Pedestrian (Orientation) & 59.19 \% & 51.59 \% & 49.14 \%\\
Pedestrian (3D Detection) & 51.26 \% & 43.93 \% & 41.60 \%\\
Pedestrian (Bird's Eye View) & 56.96 \% & 49.68 \% & 47.38 \%\\
Cyclist (Detection) & 81.15 \% & 75.35 \% & 71.26 \%\\
Cyclist (Orientation) & 80.69 \% & 74.61 \% & 70.50 \%\\
Cyclist (3D Detection) & 75.37 \% & 62.89 \% & 58.08 \%\\
Cyclist (Bird's Eye View) & 78.63 \% & 68.66 \% & 64.57 \%
\end{tabular}