\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.96 \% & 92.25 \% & 89.17 \%\\
Car (Orientation) & 94.89 \% & 92.06 \% & 88.89 \%\\
Car (3D Detection) & 82.35 \% & 74.01 \% & 69.91 \%\\
Car (Bird's Eye View) & 90.50 \% & 87.07 \% & 82.05 \%\\
Pedestrian (Detection) & 61.50 \% & 51.25 \% & 48.71 \%\\
Pedestrian (Orientation) & 52.91 \% & 43.00 \% & 40.37 \%\\
Pedestrian (3D Detection) & 43.43 \% & 35.15 \% & 32.53 \%\\
Pedestrian (Bird's Eye View) & 48.85 \% & 40.97 \% & 38.40 \%\\
Cyclist (Detection) & 80.18 \% & 67.66 \% & 61.03 \%\\
Cyclist (Orientation) & 79.39 \% & 66.77 \% & 60.12 \%\\
Cyclist (3D Detection) & 69.18 \% & 53.64 \% & 47.52 \%\\
Cyclist (Bird's Eye View) & 75.76 \% & 60.30 \% & 53.12 \%
\end{tabular}