\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.61 \% & 93.43 \% & 87.71 \%\\
Car (Orientation) & 97.57 \% & 93.29 \% & 87.48 \%\\
Car (3D Detection) & 81.66 \% & 66.39 \% & 57.39 \%\\
Car (Bird's Eye View) & 89.03 \% & 78.59 \% & 69.34 \%\\
Pedestrian (Detection) & 69.00 \% & 55.09 \% & 50.95 \%\\
Pedestrian (Orientation) & 48.49 \% & 37.58 \% & 34.41 \%\\
Pedestrian (3D Detection) & 44.12 \% & 32.23 \% & 28.95 \%\\
Pedestrian (Bird's Eye View) & 50.79 \% & 37.75 \% & 34.28 \%\\
Cyclist (Detection) & 80.92 \% & 61.46 \% & 54.64 \%\\
Cyclist (Orientation) & 65.65 \% & 48.99 \% & 43.14 \%\\
Cyclist (3D Detection) & 63.96 \% & 44.02 \% & 39.19 \%\\
Cyclist (Bird's Eye View) & 69.46 \% & 48.37 \% & 42.69 \%
\end{tabular}