\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.77 \% & 93.76 \% & 90.84 \%\\
Car (Orientation) & 96.74 \% & 93.54 \% & 90.46 \%\\
Car (3D Detection) & 91.12 \% & 82.18 \% & 75.29 \%\\
Car (Bird's Eye View) & 95.21 \% & 89.66 \% & 84.53 \%\\
Pedestrian (Detection) & 67.98 \% & 55.01 \% & 52.59 \%\\
Pedestrian (Orientation) & 64.48 \% & 51.54 \% & 48.87 \%\\
Pedestrian (3D Detection) & 51.31 \% & 43.07 \% & 39.29 \%\\
Pedestrian (Bird's Eye View) & 56.39 \% & 46.53 \% & 42.65 \%\\
Cyclist (Detection) & 85.86 \% & 71.39 \% & 62.42 \%\\
Cyclist (Orientation) & 85.51 \% & 70.83 \% & 61.95 \%\\
Cyclist (3D Detection) & 76.99 \% & 60.89 \% & 52.65 \%\\
Cyclist (Bird's Eye View) & 81.38 \% & 65.07 \% & 58.13 \%
\end{tabular}