\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.91 \% & 91.07 \% & 87.90 \%\\
Car (Orientation) & 92.90 \% & 90.88 \% & 87.59 \%\\
Car (3D Detection) & 79.78 \% & 70.53 \% & 65.48 \%\\
Car (Bird's Eye View) & 88.37 \% & 87.09 \% & 83.46 \%\\
Pedestrian (Detection) & 61.99 \% & 51.08 \% & 48.24 \%\\
Pedestrian (Orientation) & 52.33 \% & 42.29 \% & 39.46 \%\\
Pedestrian (3D Detection) & 43.05 \% & 34.94 \% & 32.22 \%\\
Pedestrian (Bird's Eye View) & 50.19 \% & 41.66 \% & 39.04 \%\\
Cyclist (Detection) & 80.16 \% & 66.65 \% & 60.51 \%\\
Cyclist (Orientation) & 79.50 \% & 65.81 \% & 59.72 \%\\
Cyclist (3D Detection) & 70.38 \% & 54.22 \% & 48.14 \%\\
Cyclist (Bird's Eye View) & 77.56 \% & 61.49 \% & 54.83 \%
\end{tabular}