\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.73 \% & 93.38 \% & 90.49 \%\\
Car (Orientation) & 95.72 \% & 93.28 \% & 90.33 \%\\
Car (3D Detection) & 88.56 \% & 80.29 \% & 75.16 \%\\
Car (Bird's Eye View) & 92.77 \% & 89.32 \% & 84.27 \%\\
Pedestrian (Detection) & 61.73 \% & 52.66 \% & 50.50 \%\\
Pedestrian (Orientation) & 58.99 \% & 49.58 \% & 47.18 \%\\
Pedestrian (3D Detection) & 46.47 \% & 39.17 \% & 37.10 \%\\
Pedestrian (Bird's Eye View) & 50.21 \% & 43.77 \% & 41.60 \%\\
Cyclist (Detection) & 87.60 \% & 75.03 \% & 68.61 \%\\
Cyclist (Orientation) & 87.44 \% & 74.72 \% & 68.28 \%\\
Cyclist (3D Detection) & 76.84 \% & 61.47 \% & 55.36 \%\\
Cyclist (Bird's Eye View) & 78.65 \% & 64.65 \% & 58.47 \%
\end{tabular}