\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.22 \% & 90.16 \% & 87.19 \%\\
Car (Orientation) & 94.18 \% & 90.01 \% & 86.90 \%\\
Car (3D Detection) & 75.73 \% & 67.15 \% & 62.83 \%\\
Car (Bird's Eye View) & 85.65 \% & 81.80 \% & 77.38 \%\\
Pedestrian (Detection) & 46.29 \% & 37.05 \% & 35.04 \%\\
Pedestrian (Orientation) & 40.04 \% & 31.71 \% & 29.68 \%\\
Pedestrian (3D Detection) & 31.26 \% & 24.43 \% & 21.96 \%\\
Pedestrian (Bird's Eye View) & 35.82 \% & 28.06 \% & 26.11 \%\\
Cyclist (Detection) & 82.63 \% & 62.70 \% & 58.31 \%\\
Cyclist (Orientation) & 81.01 \% & 60.42 \% & 56.05 \%\\
Cyclist (3D Detection) & 62.26 \% & 44.29 \% & 40.25 \%\\
Cyclist (Bird's Eye View) & 70.62 \% & 51.78 \% & 46.92 \%
\end{tabular}