\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.79 \% & 91.77 \% & 88.82 \%\\
Car (Orientation) & 94.76 \% & 91.42 \% & 88.30 \%\\
Car (3D Detection) & 86.60 \% & 75.23 \% & 70.34 \%\\
Car (Bird's Eye View) & 91.76 \% & 85.89 \% & 81.29 \%\\
Pedestrian (Detection) & 60.54 \% & 50.51 \% & 47.30 \%\\
Pedestrian (Orientation) & 53.77 \% & 43.90 \% & 40.77 \%\\
Pedestrian (3D Detection) & 41.53 \% & 33.89 \% & 31.42 \%\\
Pedestrian (Bird's Eye View) & 44.88 \% & 37.96 \% & 35.48 \%\\
Cyclist (Detection) & 74.52 \% & 60.35 \% & 53.83 \%\\
Cyclist (Orientation) & 73.67 \% & 59.07 \% & 52.52 \%\\
Cyclist (3D Detection) & 62.80 \% & 48.97 \% & 42.80 \%\\
Cyclist (Bird's Eye View) & 67.88 \% & 53.64 \% & 46.87 \%
\end{tabular}