\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.70 \% & 93.50 \% & 90.40 \%\\
Car (Orientation) & 94.67 \% & 93.36 \% & 90.17 \%\\
Car (3D Detection) & 86.29 \% & 77.67 \% & 72.18 \%\\
Car (Bird's Eye View) & 90.94 \% & 87.60 \% & 84.11 \%\\
Pedestrian (Detection) & 60.60 \% & 51.00 \% & 48.71 \%\\
Pedestrian (Orientation) & 56.88 \% & 47.06 \% & 44.58 \%\\
Pedestrian (3D Detection) & 42.78 \% & 35.71 \% & 33.26 \%\\
Pedestrian (Bird's Eye View) & 47.66 \% & 40.39 \% & 38.12 \%\\
Cyclist (Detection) & 87.24 \% & 74.89 \% & 67.98 \%\\
Cyclist (Orientation) & 87.04 \% & 74.66 \% & 67.75 \%\\
Cyclist (3D Detection) & 76.63 \% & 60.04 \% & 53.72 \%\\
Cyclist (Bird's Eye View) & 80.07 \% & 64.26 \% & 57.17 \%
\end{tabular}