\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.09 \% & 91.73 \% & 88.31 \%\\
Car (Orientation) & 95.05 \% & 91.44 \% & 87.92 \%\\
Car (3D Detection) & 83.22 \% & 73.58 \% & 68.19 \%\\
Car (Bird's Eye View) & 90.09 \% & 86.54 \% & 81.43 \%\\
Pedestrian (Detection) & 61.97 \% & 51.69 \% & 49.20 \%\\
Pedestrian (Orientation) & 56.08 \% & 45.66 \% & 42.95 \%\\
Pedestrian (3D Detection) & 44.66 \% & 37.00 \% & 34.16 \%\\
Pedestrian (Bird's Eye View) & 50.02 \% & 42.19 \% & 39.69 \%\\
Cyclist (Detection) & 82.24 \% & 68.37 \% & 62.15 \%\\
Cyclist (Orientation) & 81.72 \% & 67.69 \% & 61.51 \%\\
Cyclist (3D Detection) & 74.15 \% & 57.28 \% & 51.02 \%\\
Cyclist (Bird's Eye View) & 78.52 \% & 62.48 \% & 55.54 \%
\end{tabular}