\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.01 \% & 94.11 \% & 92.50 \%\\
Car (Orientation) & 95.00 \% & 94.02 \% & 92.34 \%\\
Car (3D Detection) & 87.24 \% & 81.09 \% & 78.05 \%\\
Car (Bird's Eye View) & 91.54 \% & 89.88 \% & 86.93 \%\\
Pedestrian (Detection) & 70.35 \% & 61.41 \% & 58.18 \%\\
Pedestrian (Orientation) & 66.99 \% & 57.56 \% & 54.15 \%\\
Pedestrian (3D Detection) & 52.55 \% & 45.00 \% & 41.82 \%\\
Pedestrian (Bird's Eye View) & 57.07 \% & 49.58 \% & 46.49 \%\\
Cyclist (Detection) & 88.94 \% & 80.71 \% & 73.79 \%\\
Cyclist (Orientation) & 88.78 \% & 80.42 \% & 73.49 \%\\
Cyclist (3D Detection) & 82.06 \% & 68.96 \% & 61.54 \%\\
Cyclist (Bird's Eye View) & 84.12 \% & 72.24 \% & 64.70 \%
\end{tabular}