\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.38 \% & 91.92 \% & 89.23 \%\\
Car (Orientation) & 95.21 \% & 91.56 \% & 88.74 \%\\
Car (3D Detection) & 85.54 \% & 75.56 \% & 71.02 \%\\
Car (Bird's Eye View) & 90.89 \% & 87.08 \% & 82.70 \%\\
Pedestrian (Detection) & 61.04 \% & 51.93 \% & 49.32 \%\\
Pedestrian (Orientation) & 57.11 \% & 47.80 \% & 45.03 \%\\
Pedestrian (3D Detection) & 46.24 \% & 38.22 \% & 35.51 \%\\
Pedestrian (Bird's Eye View) & 50.62 \% & 42.68 \% & 40.25 \%\\
Cyclist (Detection) & 87.40 \% & 76.70 \% & 71.40 \%\\
Cyclist (Orientation) & 87.18 \% & 76.18 \% & 70.88 \%\\
Cyclist (3D Detection) & 76.88 \% & 62.82 \% & 56.99 \%\\
Cyclist (Bird's Eye View) & 81.41 \% & 67.40 \% & 61.92 \%
\end{tabular}