\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.38 \% & 92.37 \% & 87.40 \%\\
Car (Orientation) & 95.17 \% & 91.70 \% & 86.62 \%\\
Car (3D Detection) & 83.83 \% & 74.89 \% & 70.11 \%\\
Car (Bird's Eye View) & 90.43 \% & 85.69 \% & 80.75 \%\\
Pedestrian (Detection) & 59.59 \% & 48.78 \% & 46.03 \%\\
Pedestrian (Orientation) & 47.57 \% & 38.19 \% & 35.73 \%\\
Pedestrian (3D Detection) & 43.42 \% & 34.56 \% & 32.09 \%\\
Pedestrian (Bird's Eye View) & 49.38 \% & 40.73 \% & 38.11 \%\\
Cyclist (Detection) & 78.41 \% & 66.63 \% & 60.09 \%\\
Cyclist (Orientation) & 77.81 \% & 65.49 \% & 58.58 \%\\
Cyclist (3D Detection) & 66.53 \% & 51.39 \% & 45.24 \%\\
Cyclist (Bird's Eye View) & 71.10 \% & 57.56 \% & 50.67 \%
\end{tabular}