\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.87 \% & 93.78 \% & 90.84 \%\\
Car (Orientation) & 96.84 \% & 93.57 \% & 90.47 \%\\
Car (3D Detection) & 91.56 \% & 82.38 \% & 75.41 \%\\
Car (Bird's Eye View) & 93.53 \% & 89.71 \% & 84.58 \%\\
Pedestrian (Detection) & 69.30 \% & 56.62 \% & 54.20 \%\\
Pedestrian (Orientation) & 65.70 \% & 52.98 \% & 50.30 \%\\
Pedestrian (3D Detection) & 52.90 \% & 43.24 \% & 39.37 \%\\
Pedestrian (Bird's Eye View) & 56.37 \% & 47.98 \% & 44.08 \%\\
Cyclist (Detection) & 86.24 \% & 69.58 \% & 62.53 \%\\
Cyclist (Orientation) & 85.82 \% & 69.05 \% & 62.07 \%\\
Cyclist (3D Detection) & 78.02 \% & 59.76 \% & 53.06 \%\\
Cyclist (Bird's Eye View) & 82.10 \% & 65.22 \% & 56.54 \%
\end{tabular}