\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.74 \% & 89.32 \% & 85.73 \%\\
Car (Orientation) & 90.73 \% & 89.22 \% & 85.53 \%\\
Car (3D Detection) & 85.94 \% & 75.76 \% & 68.32 \%\\
Car (Bird's Eye View) & 89.47 \% & 85.68 \% & 79.10 \%\\
Pedestrian (Detection) & 59.05 \% & 50.88 \% & 48.46 \%\\
Pedestrian (Orientation) & 57.49 \% & 48.98 \% & 46.48 \%\\
Pedestrian (3D Detection) & 49.43 \% & 41.78 \% & 38.63 \%\\
Pedestrian (Bird's Eye View) & 55.92 \% & 47.53 \% & 44.67 \%\\
Cyclist (Detection) & 83.64 \% & 72.94 \% & 66.07 \%\\
Cyclist (Orientation) & 83.40 \% & 72.35 \% & 65.50 \%\\
Cyclist (3D Detection) & 73.93 \% & 59.60 \% & 53.59 \%\\
Cyclist (Bird's Eye View) & 81.52 \% & 66.77 \% & 60.78 \%
\end{tabular}