\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.66 \% & 92.55 \% & 87.35 \%\\
Car (Orientation) & 95.37 \% & 91.70 \% & 86.38 \%\\
Car (3D Detection) & 84.60 \% & 75.46 \% & 68.43 \%\\
Car (Bird's Eye View) & 92.13 \% & 86.31 \% & 81.12 \%\\
Pedestrian (Detection) & 58.95 \% & 49.81 \% & 47.05 \%\\
Pedestrian (Orientation) & 48.97 \% & 40.62 \% & 38.14 \%\\
Pedestrian (3D Detection) & 42.76 \% & 35.38 \% & 32.63 \%\\
Pedestrian (Bird's Eye View) & 47.80 \% & 40.31 \% & 37.49 \%\\
Cyclist (Detection) & 81.88 \% & 69.65 \% & 63.61 \%\\
Cyclist (Orientation) & 81.53 \% & 68.75 \% & 62.55 \%\\
Cyclist (3D Detection) & 70.95 \% & 57.36 \% & 50.98 \%\\
Cyclist (Bird's Eye View) & 75.14 \% & 63.27 \% & 56.70 \%
\end{tabular}