\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.30 \% & 95.36 \% & 92.69 \%\\
Car (Orientation) & 96.28 \% & 95.21 \% & 92.42 \%\\
Car (3D Detection) & 88.25 \% & 81.66 \% & 76.99 \%\\
Car (Bird's Eye View) & 92.56 \% & 89.19 \% & 86.34 \%\\
Pedestrian (Detection) & 72.78 \% & 62.63 \% & 59.99 \%\\
Pedestrian (Orientation) & 66.80 \% & 56.44 \% & 53.65 \%\\
Pedestrian (3D Detection) & 51.71 \% & 43.51 \% & 41.06 \%\\
Pedestrian (Bird's Eye View) & 55.70 \% & 48.47 \% & 46.08 \%\\
Cyclist (Detection) & 89.59 \% & 77.58 \% & 70.62 \%\\
Cyclist (Orientation) & 89.45 \% & 77.29 \% & 70.33 \%\\
Cyclist (3D Detection) & 81.63 \% & 65.81 \% & 58.09 \%\\
Cyclist (Bird's Eye View) & 83.08 \% & 69.11 \% & 61.21 \%
\end{tabular}