\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.05 \% & 91.21 \% & 88.45 \%\\
Car (Orientation) & 93.51 \% & 90.04 \% & 87.02 \%\\
Car (3D Detection) & 83.67 \% & 74.47 \% & 69.94 \%\\
Car (Bird's Eye View) & 90.30 \% & 86.72 \% & 82.99 \%\\
Pedestrian (Detection) & 68.27 \% & 57.40 \% & 54.11 \%\\
Pedestrian (Orientation) & 47.51 \% & 39.88 \% & 37.49 \%\\
Pedestrian (3D Detection) & 53.51 \% & 44.02 \% & 40.53 \%\\
Pedestrian (Bird's Eye View) & 60.56 \% & 50.87 \% & 48.16 \%\\
Cyclist (Detection) & 83.29 \% & 68.88 \% & 61.47 \%\\
Cyclist (Orientation) & 82.23 \% & 66.68 \% & 59.21 \%\\
Cyclist (3D Detection) & 72.07 \% & 55.54 \% & 49.03 \%\\
Cyclist (Bird's Eye View) & 76.94 \% & 62.10 \% & 54.94 \%
\end{tabular}