\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 98.74 \% & 96.07 \% & 93.27 \%\\
Car (Orientation) & 98.72 \% & 95.96 \% & 93.08 \%\\
Car (3D Detection) & 92.25 \% & 85.34 \% & 80.35 \%\\
Car (Bird's Eye View) & 95.96 \% & 92.26 \% & 89.21 \%\\
Pedestrian (Detection) & 69.28 \% & 59.48 \% & 55.55 \%\\
Pedestrian (Orientation) & 66.96 \% & 56.46 \% & 52.51 \%\\
Pedestrian (3D Detection) & 50.11 \% & 42.47 \% & 38.99 \%\\
Pedestrian (Bird's Eye View) & 53.53 \% & 45.86 \% & 43.63 \%\\
Cyclist (Detection) & 87.56 \% & 80.43 \% & 71.44 \%\\
Cyclist (Orientation) & 87.29 \% & 79.70 \% & 70.82 \%\\
Cyclist (3D Detection) & 83.40 \% & 69.37 \% & 62.69 \%\\
Cyclist (Bird's Eye View) & 83.76 \% & 72.08 \% & 65.33 \%
\end{tabular}