\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.47 \% & 92.57 \% & 87.45 \%\\
Car (Orientation) & 95.13 \% & 91.79 \% & 86.51 \%\\
Car (3D Detection) & 85.86 \% & 75.75 \% & 70.65 \%\\
Car (Bird's Eye View) & 91.76 \% & 88.17 \% & 81.13 \%\\
Pedestrian (Detection) & 60.01 \% & 48.95 \% & 46.12 \%\\
Pedestrian (Orientation) & 50.36 \% & 40.32 \% & 37.58 \%\\
Pedestrian (3D Detection) & 41.54 \% & 34.41 \% & 32.15 \%\\
Pedestrian (Bird's Eye View) & 47.85 \% & 40.43 \% & 37.68 \%\\
Cyclist (Detection) & 77.03 \% & 66.66 \% & 61.25 \%\\
Cyclist (Orientation) & 75.90 \% & 64.10 \% & 58.55 \%\\
Cyclist (3D Detection) & 69.94 \% & 55.67 \% & 50.09 \%\\
Cyclist (Bird's Eye View) & 74.55 \% & 61.06 \% & 55.02 \%
\end{tabular}