\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.13 \% & 91.57 \% & 88.41 \%\\
Car (Orientation) & 95.07 \% & 91.26 \% & 87.94 \%\\
Car (3D Detection) & 83.88 \% & 73.85 \% & 68.65 \%\\
Car (Bird's Eye View) & 90.61 \% & 86.88 \% & 81.93 \%\\
Pedestrian (Detection) & 52.67 \% & 44.21 \% & 41.95 \%\\
Pedestrian (Orientation) & 40.30 \% & 32.73 \% & 30.56 \%\\
Pedestrian (3D Detection) & 37.61 \% & 31.00 \% & 28.86 \%\\
Pedestrian (Bird's Eye View) & 44.21 \% & 37.31 \% & 35.17 \%\\
Cyclist (Detection) & 77.99 \% & 66.76 \% & 60.45 \%\\
Cyclist (Orientation) & 75.66 \% & 63.61 \% & 57.48 \%\\
Cyclist (3D Detection) & 64.55 \% & 51.74 \% & 46.13 \%\\
Cyclist (Bird's Eye View) & 72.22 \% & 60.21 \% & 53.67 \%
\end{tabular}