\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.40 \% & 91.48 \% & 86.50 \%\\
Car (Orientation) & 95.39 \% & 91.33 \% & 86.29 \%\\
Car (3D Detection) & 83.99 \% & 73.49 \% & 68.56 \%\\
Car (Bird's Eye View) & 91.39 \% & 85.73 \% & 80.68 \%\\
Pedestrian (Detection) & 44.35 \% & 33.92 \% & 30.43 \%\\
Pedestrian (Orientation) & 43.08 \% & 32.57 \% & 29.17 \%\\
Pedestrian (3D Detection) & 34.77 \% & 26.40 \% & 24.03 \%\\
Pedestrian (Bird's Eye View) & 38.07 \% & 29.32 \% & 26.94 \%\\
Cyclist (Detection) & 79.87 \% & 65.98 \% & 59.75 \%\\
Cyclist (Orientation) & 79.64 \% & 65.68 \% & 59.48 \%\\
Cyclist (3D Detection) & 67.05 \% & 52.15 \% & 46.78 \%\\
Cyclist (Bird's Eye View) & 73.09 \% & 57.59 \% & 51.78 \%
\end{tabular}