\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.99 \% & 87.44 \% & 80.05 \%\\
Car (Orientation) & 89.95 \% & 87.13 \% & 79.74 \%\\
Car (3D Detection) & 81.94 \% & 71.88 \% & 66.38 \%\\
Car (Bird's Eye View) & 88.53 \% & 83.79 \% & 77.90 \%\\
Pedestrian (Detection) & 67.32 \% & 58.42 \% & 57.44 \%\\
Pedestrian (Orientation) & 53.36 \% & 44.92 \% & 43.77 \%\\
Pedestrian (3D Detection) & 50.80 \% & 42.81 \% & 40.88 \%\\
Pedestrian (Bird's Eye View) & 58.75 \% & 51.05 \% & 47.54 \%\\
Cyclist (Detection) & 68.65 \% & 59.32 \% & 55.82 \%\\
Cyclist (Orientation) & 67.61 \% & 57.53 \% & 54.16 \%\\
Cyclist (3D Detection) & 64.00 \% & 52.18 \% & 46.61 \%\\
Cyclist (Bird's Eye View) & 68.09 \% & 57.48 \% & 50.77 \%
\end{tabular}