\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.01 \% & 92.62 \% & 89.81 \%\\
Car (Orientation) & 96.00 \% & 92.55 \% & 89.68 \%\\
Car (3D Detection) & 87.52 \% & 78.91 \% & 73.96 \%\\
Car (Bird's Eye View) & 91.70 \% & 88.01 \% & 84.96 \%\\
Pedestrian (Detection) & 71.03 \% & 59.59 \% & 57.00 \%\\
Pedestrian (Orientation) & 69.64 \% & 57.78 \% & 54.90 \%\\
Pedestrian (3D Detection) & 54.26 \% & 45.38 \% & 42.98 \%\\
Pedestrian (Bird's Eye View) & 59.98 \% & 51.15 \% & 48.68 \%\\
Cyclist (Detection) & 87.65 \% & 75.83 \% & 68.57 \%\\
Cyclist (Orientation) & 87.53 \% & 75.66 \% & 68.40 \%\\
Cyclist (3D Detection) & 83.76 \% & 65.37 \% & 57.46 \%\\
Cyclist (Bird's Eye View) & 84.75 \% & 69.47 \% & 61.59 \%
\end{tabular}