\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.58 \% & 91.51 \% & 87.81 \%\\
Car (Orientation) & 94.53 \% & 91.30 \% & 87.48 \%\\
Car (3D Detection) & 80.65 \% & 70.44 \% & 65.03 \%\\
Car (Bird's Eye View) & 90.95 \% & 87.52 \% & 82.11 \%\\
Pedestrian (Detection) & 61.04 \% & 49.85 \% & 46.80 \%\\
Pedestrian (Orientation) & 51.90 \% & 41.47 \% & 38.47 \%\\
Pedestrian (3D Detection) & 43.19 \% & 34.60 \% & 31.85 \%\\
Pedestrian (Bird's Eye View) & 51.31 \% & 42.68 \% & 39.65 \%\\
Cyclist (Detection) & 81.30 \% & 69.81 \% & 63.08 \%\\
Cyclist (Orientation) & 80.09 \% & 68.54 \% & 61.85 \%\\
Cyclist (3D Detection) & 67.80 \% & 54.26 \% & 48.25 \%\\
Cyclist (Bird's Eye View) & 76.70 \% & 63.85 \% & 56.67 \%
\end{tabular}