\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.22 \% & 93.50 \% & 90.44 \%\\
Car (Orientation) & 95.20 \% & 93.32 \% & 90.14 \%\\
Car (3D Detection) & 85.25 \% & 76.83 \% & 71.60 \%\\
Car (Bird's Eye View) & 90.84 \% & 87.49 \% & 83.77 \%\\
Pedestrian (Detection) & 60.29 \% & 51.27 \% & 49.06 \%\\
Pedestrian (Orientation) & 56.55 \% & 47.09 \% & 44.58 \%\\
Pedestrian (3D Detection) & 42.29 \% & 35.34 \% & 33.02 \%\\
Pedestrian (Bird's Eye View) & 48.25 \% & 41.22 \% & 39.18 \%\\
Cyclist (Detection) & 84.16 \% & 72.25 \% & 65.39 \%\\
Cyclist (Orientation) & 83.97 \% & 71.88 \% & 65.00 \%\\
Cyclist (3D Detection) & 69.55 \% & 54.56 \% & 48.34 \%\\
Cyclist (Bird's Eye View) & 75.73 \% & 61.70 \% & 55.27 \%
\end{tabular}