\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.65 \% & 95.22 \% & 90.57 \%\\
Car (Orientation) & 95.63 \% & 95.07 \% & 90.37 \%\\
Car (3D Detection) & 87.69 \% & 79.69 \% & 74.75 \%\\
Car (Bird's Eye View) & 92.31 \% & 89.02 \% & 84.13 \%\\
Pedestrian (Detection) & 62.54 \% & 52.28 \% & 50.16 \%\\
Pedestrian (Orientation) & 59.55 \% & 48.73 \% & 46.41 \%\\
Pedestrian (3D Detection) & 44.97 \% & 37.91 \% & 35.63 \%\\
Pedestrian (Bird's Eye View) & 49.98 \% & 42.51 \% & 40.20 \%\\
Cyclist (Detection) & 87.37 \% & 74.65 \% & 69.59 \%\\
Cyclist (Orientation) & 87.17 \% & 74.21 \% & 69.09 \%\\
Cyclist (3D Detection) & 81.16 \% & 65.25 \% & 58.98 \%\\
Cyclist (Bird's Eye View) & 85.26 \% & 68.92 \% & 62.37 \%
\end{tabular}