\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.09 \% & 95.41 \% & 92.80 \%\\
Car (Orientation) & 96.08 \% & 95.27 \% & 92.59 \%\\
Car (3D Detection) & 88.35 \% & 82.03 \% & 77.33 \%\\
Car (Bird's Eye View) & 92.59 \% & 90.74 \% & 86.42 \%\\
Pedestrian (Detection) & 66.12 \% & 57.59 \% & 55.47 \%\\
Pedestrian (Orientation) & 62.77 \% & 53.72 \% & 51.42 \%\\
Pedestrian (3D Detection) & 49.74 \% & 42.63 \% & 40.20 \%\\
Pedestrian (Bird's Eye View) & 54.54 \% & 48.22 \% & 45.83 \%\\
Cyclist (Detection) & 86.36 \% & 74.76 \% & 69.51 \%\\
Cyclist (Orientation) & 86.15 \% & 74.32 \% & 69.04 \%\\
Cyclist (3D Detection) & 81.08 \% & 65.65 \% & 59.35 \%\\
Cyclist (Bird's Eye View) & 82.15 \% & 67.19 \% & 60.75 \%
\end{tabular}