\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.03 \% & 91.86 \% & 89.06 \%\\
Car (Orientation) & 95.00 \% & 91.73 \% & 88.86 \%\\
Car (3D Detection) & 87.81 \% & 78.49 \% & 73.51 \%\\
Car (Bird's Eye View) & 91.70 \% & 87.79 \% & 84.61 \%\\
Pedestrian (Detection) & 68.78 \% & 57.96 \% & 54.01 \%\\
Pedestrian (Orientation) & 63.51 \% & 52.20 \% & 48.27 \%\\
Pedestrian (3D Detection) & 53.10 \% & 43.35 \% & 40.06 \%\\
Pedestrian (Bird's Eye View) & 59.04 \% & 49.81 \% & 45.92 \%\\
Cyclist (Detection) & 88.90 \% & 78.29 \% & 71.19 \%\\
Cyclist (Orientation) & 88.70 \% & 77.52 \% & 70.41 \%\\
Cyclist (3D Detection) & 79.17 \% & 63.52 \% & 56.93 \%\\
Cyclist (Bird's Eye View) & 83.43 \% & 68.73 \% & 61.85 \%
\end{tabular}