\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.58 \% & 93.50 \% & 88.35 \%\\
Car (Orientation) & 38.66 \% & 37.20 \% & 36.29 \%\\
Car (3D Detection) & 88.33 \% & 79.47 \% & 72.29 \%\\
Car (Bird's Eye View) & 93.11 \% & 89.17 \% & 83.90 \%\\
Pedestrian (Detection) & 71.59 \% & 58.20 \% & 54.06 \%\\
Pedestrian (Orientation) & 39.16 \% & 31.86 \% & 29.65 \%\\
Pedestrian (3D Detection) & 51.92 \% & 43.77 \% & 40.14 \%\\
Pedestrian (Bird's Eye View) & 55.36 \% & 47.07 \% & 44.61 \%\\
Cyclist (Detection) & 85.75 \% & 75.08 \% & 68.69 \%\\
Cyclist (Orientation) & 36.29 \% & 32.37 \% & 29.81 \%\\
Cyclist (3D Detection) & 78.60 \% & 63.48 \% & 57.08 \%\\
Cyclist (Bird's Eye View) & 81.17 \% & 67.28 \% & 59.67 \%
\end{tabular}