\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.55 \% & 92.05 \% & 89.00 \%\\
Car (Orientation) & 94.51 \% & 91.76 \% & 88.62 \%\\
Car (3D Detection) & 81.32 \% & 72.82 \% & 68.44 \%\\
Car (Bird's Eye View) & 89.88 \% & 87.11 \% & 82.46 \%\\
Pedestrian (Detection) & 62.66 \% & 52.17 \% & 49.57 \%\\
Pedestrian (Orientation) & 58.35 \% & 47.48 \% & 44.70 \%\\
Pedestrian (3D Detection) & 47.85 \% & 39.35 \% & 36.25 \%\\
Pedestrian (Bird's Eye View) & 52.79 \% & 44.42 \% & 41.79 \%\\
Cyclist (Detection) & 82.96 \% & 72.31 \% & 67.22 \%\\
Cyclist (Orientation) & 82.57 \% & 71.37 \% & 66.27 \%\\
Cyclist (3D Detection) & 74.73 \% & 62.00 \% & 56.26 \%\\
Cyclist (Bird's Eye View) & 78.99 \% & 68.32 \% & 61.90 \%
\end{tabular}