\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.50 \% & 91.35 \% & 88.46 \%\\
Car (Orientation) & 94.48 \% & 91.19 \% & 88.23 \%\\
Car (3D Detection) & 79.72 \% & 71.91 \% & 67.66 \%\\
Car (Bird's Eye View) & 89.14 \% & 85.19 \% & 80.97 \%\\
Pedestrian (Detection) & 57.89 \% & 49.11 \% & 46.84 \%\\
Pedestrian (Orientation) & 56.10 \% & 47.20 \% & 44.84 \%\\
Pedestrian (3D Detection) & 42.84 \% & 35.48 \% & 33.00 \%\\
Pedestrian (Bird's Eye View) & 47.68 \% & 40.11 \% & 37.94 \%\\
Cyclist (Detection) & 81.11 \% & 71.60 \% & 64.59 \%\\
Cyclist (Orientation) & 80.96 \% & 71.35 \% & 64.34 \%\\
Cyclist (3D Detection) & 70.27 \% & 57.48 \% & 50.27 \%\\
Cyclist (Bird's Eye View) & 76.28 \% & 63.36 \% & 55.87 \%
\end{tabular}