\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.44 \% & 89.79 \% & 80.66 \%\\
Car (Orientation) & 90.41 \% & 89.60 \% & 80.39 \%\\
Car (3D Detection) & 85.88 \% & 76.51 \% & 68.08 \%\\
Car (Bird's Eye View) & 89.69 \% & 83.08 \% & 74.56 \%\\
Pedestrian (Detection) & 79.98 \% & 72.37 \% & 66.61 \%\\
Pedestrian (Orientation) & 72.73 \% & 64.32 \% & 59.07 \%\\
Pedestrian (3D Detection) & 52.37 \% & 45.61 \% & 41.49 \%\\
Pedestrian (Bird's Eye View) & 58.90 \% & 50.48 \% & 46.72 \%\\
Cyclist (Detection) & 84.75 \% & 76.18 \% & 67.55 \%\\
Cyclist (Orientation) & 84.38 \% & 74.96 \% & 66.45 \%\\
Cyclist (3D Detection) & 79.58 \% & 64.68 \% & 57.03 \%\\
Cyclist (Bird's Eye View) & 82.59 \% & 68.62 \% & 60.62 \%
\end{tabular}