\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.80 \% & 93.11 \% & 90.25 \%\\
Car (Orientation) & 95.77 \% & 92.97 \% & 90.03 \%\\
Car (3D Detection) & 87.86 \% & 79.66 \% & 74.54 \%\\
Car (Bird's Eye View) & 92.30 \% & 89.00 \% & 84.01 \%\\
Pedestrian (Detection) & 63.90 \% & 55.38 \% & 53.18 \%\\
Pedestrian (Orientation) & 61.18 \% & 51.88 \% & 49.47 \%\\
Pedestrian (3D Detection) & 48.02 \% & 40.72 \% & 37.67 \%\\
Pedestrian (Bird's Eye View) & 53.12 \% & 45.53 \% & 42.64 \%\\
Cyclist (Detection) & 86.18 \% & 75.35 \% & 70.09 \%\\
Cyclist (Orientation) & 85.64 \% & 74.67 \% & 69.37 \%\\
Cyclist (3D Detection) & 76.71 \% & 63.18 \% & 56.16 \%\\
Cyclist (Bird's Eye View) & 80.85 \% & 68.96 \% & 61.65 \%
\end{tabular}