\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.07 \% & 89.74 \% & 86.42 \%\\
Car (Orientation) & 92.94 \% & 89.23 \% & 85.72 \%\\
Car (3D Detection) & 79.24 \% & 68.15 \% & 63.42 \%\\
Car (Bird's Eye View) & 87.09 \% & 83.39 \% & 78.65 \%\\
Pedestrian (Detection) & 60.77 \% & 48.97 \% & 45.49 \%\\
Pedestrian (Orientation) & 59.33 \% & 47.33 \% & 43.77 \%\\
Pedestrian (3D Detection) & 44.22 \% & 35.48 \% & 32.22 \%\\
Pedestrian (Bird's Eye View) & 49.27 \% & 40.22 \% & 36.88 \%\\
Cyclist (Detection) & 75.39 \% & 60.52 \% & 53.70 \%\\
Cyclist (Orientation) & 75.22 \% & 60.18 \% & 53.37 \%\\
Cyclist (3D Detection) & 68.26 \% & 51.50 \% & 45.05 \%\\
Cyclist (Bird's Eye View) & 71.53 \% & 55.02 \% & 48.22 \%
\end{tabular}