\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.30 \% & 93.61 \% & 90.90 \%\\
Car (Orientation) & 95.28 \% & 93.47 \% & 90.66 \%\\
Car (3D Detection) & 85.69 \% & 76.98 \% & 72.01 \%\\
Car (Bird's Eye View) & 91.11 \% & 87.66 \% & 84.43 \%\\
Pedestrian (Detection) & 70.06 \% & 59.31 \% & 56.80 \%\\
Pedestrian (Orientation) & 66.15 \% & 54.90 \% & 52.10 \%\\
Pedestrian (3D Detection) & 53.92 \% & 44.73 \% & 41.41 \%\\
Pedestrian (Bird's Eye View) & 58.23 \% & 49.29 \% & 46.56 \%\\
Cyclist (Detection) & 83.74 \% & 70.61 \% & 65.06 \%\\
Cyclist (Orientation) & 83.52 \% & 70.26 \% & 64.63 \%\\
Cyclist (3D Detection) & 66.32 \% & 52.80 \% & 47.42 \%\\
Cyclist (Bird's Eye View) & 72.97 \% & 58.97 \% & 53.26 \%
\end{tabular}