\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.00 \% & 90.99 \% & 83.49 \%\\
Car (Orientation) & 93.42 \% & 90.11 \% & 82.56 \%\\
Car (3D Detection) & 84.69 \% & 74.04 \% & 68.64 \%\\
Car (Bird's Eye View) & 90.06 \% & 86.81 \% & 79.41 \%\\
Pedestrian (Detection) & 69.08 \% & 56.42 \% & 52.69 \%\\
Pedestrian (Orientation) & 60.47 \% & 48.49 \% & 45.02 \%\\
Pedestrian (3D Detection) & 48.32 \% & 39.31 \% & 35.93 \%\\
Pedestrian (Bird's Eye View) & 55.48 \% & 45.92 \% & 42.54 \%\\
Cyclist (Detection) & 84.96 \% & 71.95 \% & 65.21 \%\\
Cyclist (Orientation) & 82.61 \% & 68.72 \% & 62.00 \%\\
Cyclist (3D Detection) & 74.21 \% & 58.20 \% & 52.13 \%\\
Cyclist (Bird's Eye View) & 82.32 \% & 66.39 \% & 58.80 \%
\end{tabular}