\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.14 \% & 91.71 \% & 86.75 \%\\
Car (Orientation) & 94.85 \% & 90.75 \% & 85.58 \%\\
Car (3D Detection) & 82.02 \% & 72.68 \% & 66.27 \%\\
Car (Bird's Eye View) & 90.52 \% & 86.39 \% & 81.49 \%\\
Pedestrian (Detection) & 60.59 \% & 49.60 \% & 46.70 \%\\
Pedestrian (Orientation) & 54.97 \% & 44.69 \% & 41.93 \%\\
Pedestrian (3D Detection) & 44.12 \% & 35.19 \% & 32.02 \%\\
Pedestrian (Bird's Eye View) & 49.46 \% & 40.22 \% & 37.46 \%\\
Cyclist (Detection) & 85.26 \% & 73.63 \% & 67.06 \%\\
Cyclist (Orientation) & 84.69 \% & 72.74 \% & 65.85 \%\\
Cyclist (3D Detection) & 73.41 \% & 57.81 \% & 51.68 \%\\
Cyclist (Bird's Eye View) & 77.98 \% & 62.61 \% & 55.67 \%
\end{tabular}