\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.06 \% & 90.65 \% & 85.54 \%\\
Car (Orientation) & 96.05 \% & 90.56 \% & 85.37 \%\\
Car (3D Detection) & 86.97 \% & 76.00 \% & 69.11 \%\\
Car (Bird's Eye View) & 92.50 \% & 86.50 \% & 81.30 \%\\
Pedestrian (Detection) & 53.86 \% & 43.31 \% & 40.96 \%\\
Pedestrian (Orientation) & 52.44 \% & 41.55 \% & 39.16 \%\\
Pedestrian (3D Detection) & 39.36 \% & 31.36 \% & 29.14 \%\\
Pedestrian (Bird's Eye View) & 43.33 \% & 35.17 \% & 33.02 \%\\
Cyclist (Detection) & 83.96 \% & 69.08 \% & 64.75 \%\\
Cyclist (Orientation) & 83.84 \% & 68.83 \% & 64.41 \%\\
Cyclist (3D Detection) & 76.05 \% & 60.70 \% & 55.28 \%\\
Cyclist (Bird's Eye View) & 82.12 \% & 65.13 \% & 59.42 \%
\end{tabular}