\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.01 \% & 92.38 \% & 89.60 \%\\
Car (Orientation) & 93.99 \% & 92.25 \% & 89.41 \%\\
Car (3D Detection) & 83.88 \% & 75.58 \% & 70.77 \%\\
Car (Bird's Eye View) & 89.72 \% & 86.15 \% & 82.34 \%\\
Pedestrian (Detection) & 65.44 \% & 56.13 \% & 53.73 \%\\
Pedestrian (Orientation) & 64.12 \% & 54.41 \% & 51.79 \%\\
Pedestrian (3D Detection) & 47.46 \% & 39.97 \% & 37.43 \%\\
Pedestrian (Bird's Eye View) & 52.43 \% & 44.91 \% & 42.56 \%\\
Cyclist (Detection) & 87.58 \% & 74.37 \% & 67.60 \%\\
Cyclist (Orientation) & 87.44 \% & 74.13 \% & 67.34 \%\\
Cyclist (3D Detection) & 78.18 \% & 61.74 \% & 54.68 \%\\
Cyclist (Bird's Eye View) & 81.10 \% & 64.66 \% & 57.53 \%
\end{tabular}