\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.37 \% & 92.15 \% & 87.54 \%\\
Car (Orientation) & 94.86 \% & 91.06 \% & 86.28 \%\\
Car (3D Detection) & 81.11 \% & 72.93 \% & 67.24 \%\\
Car (Bird's Eye View) & 89.61 \% & 85.08 \% & 80.42 \%\\
Pedestrian (Detection) & 62.12 \% & 52.53 \% & 50.27 \%\\
Pedestrian (Orientation) & 48.75 \% & 40.99 \% & 38.99 \%\\
Pedestrian (3D Detection) & 43.93 \% & 36.07 \% & 32.86 \%\\
Pedestrian (Bird's Eye View) & 48.74 \% & 40.94 \% & 38.54 \%\\
Cyclist (Detection) & 79.44 \% & 66.25 \% & 60.11 \%\\
Cyclist (Orientation) & 78.02 \% & 64.06 \% & 58.06 \%\\
Cyclist (3D Detection) & 63.27 \% & 46.78 \% & 41.37 \%\\
Cyclist (Bird's Eye View) & 72.67 \% & 55.71 \% & 49.58 \%
\end{tabular}