\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.58 \% & 90.51 \% & 87.58 \%\\
Car (Orientation) & 94.77 \% & 89.32 \% & 85.91 \%\\
Car (3D Detection) & 81.63 \% & 71.24 \% & 64.89 \%\\
Car (Bird's Eye View) & 90.00 \% & 82.80 \% & 77.90 \%\\
Pedestrian (Detection) & 65.42 \% & 54.13 \% & 52.05 \%\\
Pedestrian (Orientation) & 51.00 \% & 41.33 \% & 39.35 \%\\
Pedestrian (3D Detection) & 48.15 \% & 38.63 \% & 36.17 \%\\
Pedestrian (Bird's Eye View) & 55.82 \% & 45.68 \% & 42.13 \%\\
Cyclist (Detection) & 77.65 \% & 61.46 \% & 55.87 \%\\
Cyclist (Orientation) & 74.31 \% & 57.61 \% & 51.75 \%\\
Cyclist (3D Detection) & 64.76 \% & 48.86 \% & 43.74 \%\\
Cyclist (Bird's Eye View) & 73.44 \% & 55.20 \% & 49.29 \%
\end{tabular}