\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.84 \% & 93.20 \% & 90.38 \%\\
Car (Orientation) & 95.43 \% & 92.41 \% & 89.40 \%\\
Car (3D Detection) & 86.37 \% & 75.67 \% & 70.73 \%\\
Car (Bird's Eye View) & 91.70 \% & 86.10 \% & 83.15 \%\\
Pedestrian (Detection) & 67.56 \% & 56.47 \% & 52.71 \%\\
Pedestrian (Orientation) & 62.91 \% & 51.91 \% & 48.32 \%\\
Pedestrian (3D Detection) & 47.05 \% & 38.96 \% & 36.55 \%\\
Pedestrian (Bird's Eye View) & 52.52 \% & 44.17 \% & 41.84 \%\\
Cyclist (Detection) & 86.69 \% & 74.96 \% & 68.92 \%\\
Cyclist (Orientation) & 84.30 \% & 72.43 \% & 66.20 \%\\
Cyclist (3D Detection) & 72.08 \% & 58.06 \% & 52.43 \%\\
Cyclist (Bird's Eye View) & 76.73 \% & 63.76 \% & 57.71 \%
\end{tabular}