\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.06 \% & 94.19 \% & 91.17 \%\\
Car (Orientation) & 95.03 \% & 94.06 \% & 90.97 \%\\
Car (3D Detection) & 85.51 \% & 77.52 \% & 74.02 \%\\
Car (Bird's Eye View) & 90.70 \% & 87.56 \% & 84.36 \%\\
Pedestrian (Detection) & 64.15 \% & 54.83 \% & 52.65 \%\\
Pedestrian (Orientation) & 60.57 \% & 50.74 \% & 48.22 \%\\
Pedestrian (3D Detection) & 45.15 \% & 38.88 \% & 36.71 \%\\
Pedestrian (Bird's Eye View) & 50.05 \% & 43.64 \% & 41.56 \%\\
Cyclist (Detection) & 84.37 \% & 74.45 \% & 67.85 \%\\
Cyclist (Orientation) & 84.20 \% & 74.05 \% & 67.45 \%\\
Cyclist (3D Detection) & 75.58 \% & 61.33 \% & 54.63 \%\\
Cyclist (Bird's Eye View) & 79.14 \% & 65.36 \% & 58.50 \%
\end{tabular}