\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.50 \% & 85.49 \% & 82.52 \%\\
Car (Orientation) & 89.42 \% & 85.20 \% & 82.07 \%\\
Car (3D Detection) & 77.55 \% & 67.33 \% & 62.44 \%\\
Car (Bird's Eye View) & 84.64 \% & 80.29 \% & 76.05 \%\\
Pedestrian (Detection) & 52.99 \% & 43.43 \% & 41.29 \%\\
Pedestrian (Orientation) & 39.86 \% & 32.00 \% & 30.12 \%\\
Pedestrian (3D Detection) & 37.21 \% & 29.77 \% & 27.62 \%\\
Pedestrian (Bird's Eye View) & 42.08 \% & 34.92 \% & 32.69 \%\\
Cyclist (Detection) & 74.69 \% & 63.39 \% & 56.96 \%\\
Cyclist (Orientation) & 71.83 \% & 60.85 \% & 54.58 \%\\
Cyclist (3D Detection) & 65.51 \% & 51.33 \% & 45.05 \%\\
Cyclist (Bird's Eye View) & 71.92 \% & 57.99 \% & 51.55 \%
\end{tabular}