\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.70 \% & 88.92 \% & 84.13 \%\\
Car (Orientation) & 94.65 \% & 88.61 \% & 83.71 \%\\
Car (3D Detection) & 83.07 \% & 71.76 \% & 65.73 \%\\
Car (Bird's Eye View) & 90.99 \% & 84.82 \% & 79.62 \%\\
Pedestrian (Detection) & 67.95 \% & 57.87 \% & 55.23 \%\\
Pedestrian (Orientation) & 53.48 \% & 43.99 \% & 41.56 \%\\
Pedestrian (3D Detection) & 50.46 \% & 42.27 \% & 39.04 \%\\
Pedestrian (Bird's Eye View) & 58.49 \% & 50.32 \% & 46.98 \%\\
Cyclist (Detection) & 70.38 \% & 60.79 \% & 55.37 \%\\
Cyclist (Orientation) & 69.21 \% & 58.70 \% & 53.47 \%\\
Cyclist (3D Detection) & 63.76 \% & 50.55 \% & 44.93 \%\\
Cyclist (Bird's Eye View) & 69.39 \% & 57.12 \% & 51.09 \%
\end{tabular}