\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.51 \% & 92.81 \% & 89.78 \%\\
Car (Orientation) & 95.03 \% & 91.83 \% & 88.54 \%\\
Car (3D Detection) & 85.55 \% & 75.50 \% & 70.46 \%\\
Car (Bird's Eye View) & 91.32 \% & 85.84 \% & 82.57 \%\\
Pedestrian (Detection) & 65.63 \% & 54.61 \% & 51.02 \%\\
Pedestrian (Orientation) & 55.24 \% & 45.76 \% & 42.75 \%\\
Pedestrian (3D Detection) & 44.13 \% & 36.49 \% & 34.17 \%\\
Pedestrian (Bird's Eye View) & 51.42 \% & 42.89 \% & 40.28 \%\\
Cyclist (Detection) & 83.23 \% & 73.39 \% & 67.57 \%\\
Cyclist (Orientation) & 80.62 \% & 70.33 \% & 64.31 \%\\
Cyclist (3D Detection) & 73.85 \% & 60.65 \% & 54.87 \%\\
Cyclist (Bird's Eye View) & 79.23 \% & 66.30 \% & 60.98 \%
\end{tabular}