\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.39 \% & 92.54 \% & 87.77 \%\\
Car (Orientation) & 95.17 \% & 91.84 \% & 86.94 \%\\
Car (3D Detection) & 83.75 \% & 74.64 \% & 68.32 \%\\
Car (Bird's Eye View) & 91.02 \% & 85.84 \% & 80.93 \%\\
Pedestrian (Detection) & 67.96 \% & 55.22 \% & 53.15 \%\\
Pedestrian (Orientation) & 58.34 \% & 46.92 \% & 44.82 \%\\
Pedestrian (3D Detection) & 47.81 \% & 38.41 \% & 36.15 \%\\
Pedestrian (Bird's Eye View) & 53.43 \% & 43.67 \% & 41.41 \%\\
Cyclist (Detection) & 80.28 \% & 64.41 \% & 58.52 \%\\
Cyclist (Orientation) & 77.64 \% & 62.03 \% & 56.00 \%\\
Cyclist (3D Detection) & 61.63 \% & 45.95 \% & 40.87 \%\\
Cyclist (Bird's Eye View) & 67.41 \% & 51.69 \% & 45.99 \%
\end{tabular}