\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.89 \% & 91.34 \% & 88.13 \%\\
Car (Orientation) & 94.83 \% & 91.03 \% & 87.65 \%\\
Car (3D Detection) & 82.32 \% & 73.15 \% & 66.64 \%\\
Car (Bird's Eye View) & 90.43 \% & 86.11 \% & 81.38 \%\\
Pedestrian (Detection) & 48.38 \% & 40.24 \% & 38.25 \%\\
Pedestrian (Orientation) & 38.16 \% & 30.83 \% & 28.98 \%\\
Pedestrian (3D Detection) & 33.87 \% & 27.23 \% & 25.27 \%\\
Pedestrian (Bird's Eye View) & 39.11 \% & 32.78 \% & 30.87 \%\\
Cyclist (Detection) & 23.56 \% & 26.32 \% & 24.54 \%\\
Cyclist (Orientation) & 19.53 \% & 21.79 \% & 20.12 \%\\
Cyclist (3D Detection) & 11.47 \% & 14.29 \% & 12.57 \%\\
Cyclist (Bird's Eye View) & 15.92 \% & 19.53 \% & 17.61 \%
\end{tabular}