\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.34 \% & 92.54 \% & 89.65 \%\\
Car (Orientation) & 95.33 \% & 92.45 \% & 89.49 \%\\
Car (3D Detection) & 83.27 \% & 76.62 \% & 72.18 \%\\
Car (Bird's Eye View) & 89.72 \% & 87.22 \% & 84.27 \%\\
Pedestrian (Detection) & 66.13 \% & 55.13 \% & 51.74 \%\\
Pedestrian (Orientation) & 64.47 \% & 53.09 \% & 49.56 \%\\
Pedestrian (3D Detection) & 46.13 \% & 39.07 \% & 36.19 \%\\
Pedestrian (Bird's Eye View) & 49.37 \% & 42.42 \% & 40.28 \%\\
Cyclist (Detection) & 84.45 \% & 71.39 \% & 64.67 \%\\
Cyclist (Orientation) & 84.28 \% & 71.15 \% & 64.44 \%\\
Cyclist (3D Detection) & 75.80 \% & 58.88 \% & 51.95 \%\\
Cyclist (Bird's Eye View) & 81.53 \% & 64.56 \% & 57.10 \%
\end{tabular}