\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.27 \% & 91.88 \% & 89.21 \%\\
Car (Orientation) & 95.05 \% & 91.28 \% & 88.48 \%\\
Car (3D Detection) & 86.82 \% & 76.09 \% & 72.74 \%\\
Car (Bird's Eye View) & 91.75 \% & 87.51 \% & 83.01 \%\\
Pedestrian (Detection) & 60.60 \% & 51.40 \% & 48.39 \%\\
Pedestrian (Orientation) & 54.51 \% & 45.39 \% & 42.50 \%\\
Pedestrian (3D Detection) & 44.67 \% & 36.84 \% & 34.48 \%\\
Pedestrian (Bird's Eye View) & 48.45 \% & 41.24 \% & 38.92 \%\\
Cyclist (Detection) & 89.05 \% & 78.02 \% & 71.63 \%\\
Cyclist (Orientation) & 88.70 \% & 77.15 \% & 70.69 \%\\
Cyclist (3D Detection) & 76.92 \% & 61.83 \% & 55.51 \%\\
Cyclist (Bird's Eye View) & 82.10 \% & 67.12 \% & 60.42 \%
\end{tabular}