\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.66 \% & 93.01 \% & 88.18 \%\\
Car (Orientation) & 95.39 \% & 92.30 \% & 87.34 \%\\
Car (3D Detection) & 84.36 \% & 75.61 \% & 70.46 \%\\
Car (Bird's Eye View) & 91.21 \% & 85.99 \% & 81.05 \%\\
Pedestrian (Detection) & 65.81 \% & 55.37 \% & 51.63 \%\\
Pedestrian (Orientation) & 59.81 \% & 49.63 \% & 46.15 \%\\
Pedestrian (3D Detection) & 48.99 \% & 40.57 \% & 37.13 \%\\
Pedestrian (Bird's Eye View) & 55.35 \% & 45.13 \% & 42.62 \%\\
Cyclist (Detection) & 84.34 \% & 74.49 \% & 68.25 \%\\
Cyclist (Orientation) & 81.49 \% & 71.87 \% & 65.56 \%\\
Cyclist (3D Detection) & 75.65 \% & 60.52 \% & 54.64 \%\\
Cyclist (Bird's Eye View) & 80.63 \% & 66.72 \% & 60.50 \%
\end{tabular}