\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.61 \% & 92.56 \% & 87.58 \%\\
Car (Orientation) & 95.58 \% & 92.40 \% & 87.35 \%\\
Car (3D Detection) & 82.80 \% & 73.83 \% & 69.29 \%\\
Car (Bird's Eye View) & 90.31 \% & 87.36 \% & 82.63 \%\\
Pedestrian (Detection) & 64.32 \% & 53.51 \% & 49.98 \%\\
Pedestrian (Orientation) & 62.95 \% & 51.79 \% & 48.09 \%\\
Pedestrian (3D Detection) & 45.71 \% & 37.63 \% & 34.55 \%\\
Pedestrian (Bird's Eye View) & 49.89 \% & 41.26 \% & 39.17 \%\\
Cyclist (Detection) & 84.51 \% & 69.28 \% & 62.41 \%\\
Cyclist (Orientation) & 84.32 \% & 69.08 \% & 62.22 \%\\
Cyclist (3D Detection) & 76.45 \% & 59.44 \% & 52.99 \%\\
Cyclist (Bird's Eye View) & 80.64 \% & 65.00 \% & 56.81 \%
\end{tabular}