\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.79 \% & 94.59 \% & 92.17 \%\\
Car (Orientation) & 95.77 \% & 94.43 \% & 91.93 \%\\
Car (3D Detection) & 90.46 \% & 81.78 \% & 77.37 \%\\
Car (Bird's Eye View) & 92.43 \% & 88.58 \% & 86.05 \%\\
Pedestrian (Detection) & 71.50 \% & 62.87 \% & 59.22 \%\\
Pedestrian (Orientation) & 65.85 \% & 56.43 \% & 52.71 \%\\
Pedestrian (3D Detection) & 50.61 \% & 43.98 \% & 41.79 \%\\
Pedestrian (Bird's Eye View) & 55.95 \% & 49.12 \% & 46.90 \%\\
Cyclist (Detection) & 85.66 \% & 76.63 \% & 71.49 \%\\
Cyclist (Orientation) & 85.40 \% & 76.21 \% & 71.04 \%\\
Cyclist (3D Detection) & 76.52 \% & 62.12 \% & 56.21 \%\\
Cyclist (Bird's Eye View) & 78.85 \% & 65.12 \% & 59.17 \%
\end{tabular}