\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.12 \% & 90.81 \% & 85.84 \%\\
Car (Orientation) & 96.10 \% & 90.70 \% & 85.66 \%\\
Car (3D Detection) & 83.76 \% & 75.41 \% & 69.12 \%\\
Car (Bird's Eye View) & 90.54 \% & 85.88 \% & 81.10 \%\\
Pedestrian (Detection) & 58.57 \% & 47.60 \% & 43.67 \%\\
Pedestrian (Orientation) & 55.75 \% & 44.57 \% & 40.70 \%\\
Pedestrian (3D Detection) & 45.62 \% & 36.20 \% & 33.59 \%\\
Pedestrian (Bird's Eye View) & 50.05 \% & 41.31 \% & 37.58 \%\\
Cyclist (Detection) & 86.73 \% & 68.02 \% & 62.68 \%\\
Cyclist (Orientation) & 86.37 \% & 67.65 \% & 62.30 \%\\
Cyclist (3D Detection) & 71.57 \% & 53.73 \% & 48.92 \%\\
Cyclist (Bird's Eye View) & 77.48 \% & 59.03 \% & 52.68 \%
\end{tabular}