\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.82 \% & 92.53 \% & 89.80 \%\\
Car (Orientation) & 95.63 \% & 92.04 \% & 89.14 \%\\
Car (3D Detection) & 86.97 \% & 76.31 \% & 73.03 \%\\
Car (Bird's Eye View) & 91.96 \% & 87.89 \% & 83.31 \%\\
Pedestrian (Detection) & 64.22 \% & 54.34 \% & 51.53 \%\\
Pedestrian (Orientation) & 60.15 \% & 50.21 \% & 47.41 \%\\
Pedestrian (3D Detection) & 47.67 \% & 39.21 \% & 36.53 \%\\
Pedestrian (Bird's Eye View) & 53.05 \% & 44.18 \% & 41.54 \%\\
Cyclist (Detection) & 89.14 \% & 77.04 \% & 71.00 \%\\
Cyclist (Orientation) & 88.80 \% & 76.18 \% & 70.06 \%\\
Cyclist (3D Detection) & 79.31 \% & 63.07 \% & 57.44 \%\\
Cyclist (Bird's Eye View) & 82.22 \% & 67.05 \% & 61.08 \%
\end{tabular}