\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.00 \% & 91.87 \% & 88.69 \%\\
Car (Orientation) & 94.97 \% & 91.68 \% & 88.39 \%\\
Car (3D Detection) & 83.30 \% & 73.87 \% & 68.70 \%\\
Car (Bird's Eye View) & 90.27 \% & 86.97 \% & 81.95 \%\\
Pedestrian (Detection) & 62.00 \% & 51.10 \% & 48.77 \%\\
Pedestrian (Orientation) & 54.94 \% & 44.17 \% & 41.61 \%\\
Pedestrian (3D Detection) & 45.15 \% & 36.93 \% & 34.27 \%\\
Pedestrian (Bird's Eye View) & 50.30 \% & 41.84 \% & 39.49 \%\\
Cyclist (Detection) & 79.31 \% & 67.35 \% & 60.98 \%\\
Cyclist (Orientation) & 78.69 \% & 66.63 \% & 60.18 \%\\
Cyclist (3D Detection) & 70.47 \% & 55.64 \% & 49.24 \%\\
Cyclist (Bird's Eye View) & 75.48 \% & 61.04 \% & 54.48 \%
\end{tabular}