\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.56 \% & 94.14 \% & 91.89 \%\\
Car (Orientation) & 97.55 \% & 94.08 \% & 91.74 \%\\
Car (3D Detection) & 90.32 \% & 81.22 \% & 76.97 \%\\
Car (Bird's Eye View) & 92.20 \% & 89.41 \% & 85.77 \%\\
Pedestrian (Detection) & 64.84 \% & 57.49 \% & 55.41 \%\\
Pedestrian (Orientation) & 60.01 \% & 51.91 \% & 49.53 \%\\
Pedestrian (3D Detection) & 51.04 \% & 43.86 \% & 41.66 \%\\
Pedestrian (Bird's Eye View) & 56.57 \% & 50.20 \% & 48.12 \%\\
Cyclist (Detection) & 85.87 \% & 77.49 \% & 72.13 \%\\
Cyclist (Orientation) & 85.45 \% & 76.40 \% & 70.98 \%\\
Cyclist (3D Detection) & 81.52 \% & 65.06 \% & 59.68 \%\\
Cyclist (Bird's Eye View) & 83.52 \% & 72.05 \% & 66.71 \%
\end{tabular}