\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.57 \% & 92.31 \% & 89.50 \%\\
Car (Orientation) & 95.34 \% & 91.78 \% & 88.82 \%\\
Car (3D Detection) & 86.65 \% & 76.39 \% & 71.67 \%\\
Car (Bird's Eye View) & 91.93 \% & 87.54 \% & 83.33 \%\\
Pedestrian (Detection) & 64.13 \% & 54.37 \% & 50.68 \%\\
Pedestrian (Orientation) & 60.42 \% & 50.50 \% & 46.90 \%\\
Pedestrian (3D Detection) & 47.93 \% & 39.63 \% & 37.16 \%\\
Pedestrian (Bird's Eye View) & 53.22 \% & 44.47 \% & 41.88 \%\\
Cyclist (Detection) & 87.04 \% & 75.48 \% & 69.43 \%\\
Cyclist (Orientation) & 86.86 \% & 74.98 \% & 68.78 \%\\
Cyclist (3D Detection) & 78.61 \% & 62.68 \% & 57.06 \%\\
Cyclist (Bird's Eye View) & 82.42 \% & 66.67 \% & 60.64 \%
\end{tabular}