\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.84 \% & 93.23 \% & 88.07 \%\\
Car (Orientation) & 95.82 \% & 93.09 \% & 87.88 \%\\
Car (3D Detection) & 86.22 \% & 75.72 \% & 70.48 \%\\
Car (Bird's Eye View) & 91.80 \% & 88.36 \% & 83.27 \%\\
Pedestrian (Detection) & 65.55 \% & 55.54 \% & 52.96 \%\\
Pedestrian (Orientation) & 59.41 \% & 49.01 \% & 46.28 \%\\
Pedestrian (3D Detection) & 44.81 \% & 38.16 \% & 36.06 \%\\
Pedestrian (Bird's Eye View) & 51.49 \% & 44.51 \% & 42.31 \%\\
Cyclist (Detection) & 82.36 \% & 73.24 \% & 67.38 \%\\
Cyclist (Orientation) & 82.00 \% & 72.72 \% & 66.88 \%\\
Cyclist (3D Detection) & 76.32 \% & 61.49 \% & 55.77 \%\\
Cyclist (Bird's Eye View) & 79.60 \% & 66.23 \% & 60.48 \%
\end{tabular}