\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.62 \% & 89.62 \% & 86.76 \%\\
Car (Orientation) & 94.93 \% & 88.04 \% & 84.57 \%\\
Car (3D Detection) & 81.66 \% & 69.07 \% & 64.00 \%\\
Car (Bird's Eye View) & 90.67 \% & 82.32 \% & 77.34 \%\\
Pedestrian (Detection) & 57.07 \% & 46.87 \% & 44.08 \%\\
Pedestrian (Orientation) & 36.05 \% & 29.31 \% & 27.41 \%\\
Pedestrian (3D Detection) & 39.62 \% & 32.60 \% & 30.05 \%\\
Pedestrian (Bird's Eye View) & 46.92 \% & 38.87 \% & 36.56 \%\\
Cyclist (Detection) & 72.32 \% & 59.54 \% & 55.44 \%\\
Cyclist (Orientation) & 61.90 \% & 50.64 \% & 46.62 \%\\
Cyclist (3D Detection) & 59.00 \% & 43.74 \% & 39.42 \%\\
Cyclist (Bird's Eye View) & 66.21 \% & 51.35 \% & 46.27 \%
\end{tabular}