\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.21 \% & 91.96 \% & 87.03 \%\\
Car (Orientation) & 94.78 \% & 91.19 \% & 86.17 \%\\
Car (3D Detection) & 83.51 \% & 73.13 \% & 68.02 \%\\
Car (Bird's Eye View) & 91.25 \% & 85.96 \% & 80.82 \%\\
Pedestrian (Detection) & 56.07 \% & 46.06 \% & 43.60 \%\\
Pedestrian (Orientation) & 40.90 \% & 33.65 \% & 31.50 \%\\
Pedestrian (3D Detection) & 39.38 \% & 32.10 \% & 29.54 \%\\
Pedestrian (Bird's Eye View) & 45.74 \% & 38.07 \% & 35.76 \%\\
Cyclist (Detection) & 80.55 \% & 66.84 \% & 60.70 \%\\
Cyclist (Orientation) & 78.34 \% & 63.69 \% & 57.51 \%\\
Cyclist (3D Detection) & 70.51 \% & 54.47 \% & 48.34 \%\\
Cyclist (Bird's Eye View) & 75.76 \% & 61.70 \% & 54.77 \%
\end{tabular}