\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.25 \% & 95.89 \% & 93.25 \%\\
Car (Orientation) & 96.25 \% & 95.85 \% & 93.17 \%\\
Car (3D Detection) & 89.13 \% & 82.97 \% & 80.05 \%\\
Car (Bird's Eye View) & 92.96 \% & 91.36 \% & 86.80 \%\\
Pedestrian (Detection) & 75.07 \% & 65.50 \% & 63.09 \%\\
Pedestrian (Orientation) & 72.38 \% & 61.92 \% & 59.31 \%\\
Pedestrian (3D Detection) & 55.59 \% & 48.77 \% & 46.12 \%\\
Pedestrian (Bird's Eye View) & 58.91 \% & 53.32 \% & 50.82 \%\\
Cyclist (Detection) & 90.16 \% & 84.44 \% & 77.71 \%\\
Cyclist (Orientation) & 89.86 \% & 83.78 \% & 76.98 \%\\
Cyclist (3D Detection) & 86.74 \% & 74.32 \% & 67.45 \%\\
Cyclist (Bird's Eye View) & 89.65 \% & 78.19 \% & 71.13 \%
\end{tabular}