\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.70 \% & 93.18 \% & 90.40 \%\\
Car (Orientation) & 95.68 \% & 93.10 \% & 90.26 \%\\
Car (3D Detection) & 88.24 \% & 79.81 \% & 75.06 \%\\
Car (Bird's Eye View) & 92.29 \% & 89.05 \% & 84.35 \%\\
Pedestrian (Detection) & 67.85 \% & 57.89 \% & 55.67 \%\\
Pedestrian (Orientation) & 65.13 \% & 54.68 \% & 52.20 \%\\
Pedestrian (3D Detection) & 48.95 \% & 41.89 \% & 38.66 \%\\
Pedestrian (Bird's Eye View) & 55.20 \% & 47.80 \% & 45.34 \%\\
Cyclist (Detection) & 88.57 \% & 76.40 \% & 69.83 \%\\
Cyclist (Orientation) & 88.40 \% & 76.12 \% & 69.51 \%\\
Cyclist (3D Detection) & 82.25 \% & 65.36 \% & 58.75 \%\\
Cyclist (Bird's Eye View) & 84.92 \% & 70.99 \% & 62.93 \%
\end{tabular}