\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.67 \% & 90.63 \% & 87.75 \%\\
Car (Orientation) & 93.63 \% & 90.39 \% & 87.43 \%\\
Car (3D Detection) & 78.33 \% & 70.69 \% & 66.70 \%\\
Car (Bird's Eye View) & 87.87 \% & 84.11 \% & 80.19 \%\\
Pedestrian (Detection) & 61.95 \% & 51.76 \% & 49.83 \%\\
Pedestrian (Orientation) & 60.10 \% & 49.82 \% & 47.66 \%\\
Pedestrian (3D Detection) & 44.04 \% & 36.59 \% & 34.12 \%\\
Pedestrian (Bird's Eye View) & 48.70 \% & 41.39 \% & 39.31 \%\\
Cyclist (Detection) & 82.94 \% & 72.00 \% & 64.85 \%\\
Cyclist (Orientation) & 82.75 \% & 71.72 \% & 64.55 \%\\
Cyclist (3D Detection) & 75.19 \% & 60.03 \% & 53.01 \%\\
Cyclist (Bird's Eye View) & 78.65 \% & 65.32 \% & 57.70 \%
\end{tabular}