\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.18 \% & 93.58 \% & 90.84 \%\\
Car (Orientation) & 95.16 \% & 93.45 \% & 90.62 \%\\
Car (3D Detection) & 85.51 \% & 77.35 \% & 72.24 \%\\
Car (Bird's Eye View) & 90.76 \% & 87.51 \% & 84.22 \%\\
Pedestrian (Detection) & 60.70 \% & 52.09 \% & 49.91 \%\\
Pedestrian (Orientation) & 57.35 \% & 48.20 \% & 45.75 \%\\
Pedestrian (3D Detection) & 43.92 \% & 36.44 \% & 34.27 \%\\
Pedestrian (Bird's Eye View) & 49.61 \% & 42.05 \% & 39.90 \%\\
Cyclist (Detection) & 83.49 \% & 70.70 \% & 64.24 \%\\
Cyclist (Orientation) & 83.25 \% & 70.32 \% & 63.84 \%\\
Cyclist (3D Detection) & 74.30 \% & 56.92 \% & 50.41 \%\\
Cyclist (Bird's Eye View) & 78.77 \% & 62.47 \% & 55.59 \%
\end{tabular}