\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.00 \% & 91.19 \% & 88.17 \%\\
Car (Orientation) & 93.84 \% & 90.70 \% & 87.47 \%\\
Car (3D Detection) & 82.58 \% & 74.31 \% & 68.99 \%\\
Car (Bird's Eye View) & 90.07 \% & 86.56 \% & 82.81 \%\\
Pedestrian (Detection) & 65.29 \% & 55.10 \% & 52.39 \%\\
Pedestrian (Orientation) & 57.47 \% & 48.05 \% & 45.40 \%\\
Pedestrian (3D Detection) & 51.45 \% & 41.92 \% & 38.89 \%\\
Pedestrian (Bird's Eye View) & 57.60 \% & 48.64 \% & 45.78 \%\\
Cyclist (Detection) & 83.97 \% & 68.98 \% & 62.17 \%\\
Cyclist (Orientation) & 83.79 \% & 68.55 \% & 61.71 \%\\
Cyclist (3D Detection) & 77.10 \% & 58.65 \% & 51.92 \%\\
Cyclist (Bird's Eye View) & 79.90 \% & 62.73 \% & 55.58 \%
\end{tabular}