\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.31 \% & 89.99 \% & 86.86 \%\\
Car (Orientation) & 95.06 \% & 89.29 \% & 85.82 \%\\
Car (3D Detection) & 81.62 \% & 71.46 \% & 66.26 \%\\
Car (Bird's Eye View) & 90.15 \% & 84.83 \% & 79.86 \%\\
Pedestrian (Detection) & 63.28 \% & 52.97 \% & 49.07 \%\\
Pedestrian (Orientation) & 57.38 \% & 48.05 \% & 44.39 \%\\
Pedestrian (3D Detection) & 50.39 \% & 39.98 \% & 35.98 \%\\
Pedestrian (Bird's Eye View) & 54.33 \% & 44.64 \% & 40.68 \%\\
Cyclist (Detection) & 87.02 \% & 73.44 \% & 67.23 \%\\
Cyclist (Orientation) & 86.80 \% & 72.97 \% & 66.52 \%\\
Cyclist (3D Detection) & 77.31 \% & 61.06 \% & 55.07 \%\\
Cyclist (Bird's Eye View) & 81.99 \% & 65.62 \% & 59.19 \%
\end{tabular}