\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.21 \% & 91.97 \% & 87.04 \%\\
Car (Orientation) & 94.79 \% & 91.21 \% & 86.17 \%\\
Car (3D Detection) & 83.64 \% & 74.34 \% & 68.02 \%\\
Car (Bird's Eye View) & 91.28 \% & 85.97 \% & 80.82 \%\\
Pedestrian (Detection) & 56.10 \% & 46.09 \% & 43.62 \%\\
Pedestrian (Orientation) & 40.93 \% & 33.67 \% & 31.51 \%\\
Pedestrian (3D Detection) & 39.40 \% & 32.11 \% & 29.55 \%\\
Pedestrian (Bird's Eye View) & 45.74 \% & 38.07 \% & 35.75 \%\\
Cyclist (Detection) & 80.54 \% & 66.87 \% & 60.69 \%\\
Cyclist (Orientation) & 78.33 \% & 63.72 \% & 57.50 \%\\
Cyclist (3D Detection) & 70.51 \% & 54.46 \% & 48.33 \%\\
Cyclist (Bird's Eye View) & 75.76 \% & 61.70 \% & 54.75 \%
\end{tabular}