\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.06 \% & 92.44 \% & 90.78 \%\\
Car (Orientation) & 95.02 \% & 92.24 \% & 90.46 \%\\
Car (3D Detection) & 83.20 \% & 76.04 \% & 71.17 \%\\
Car (Bird's Eye View) & 90.85 \% & 87.68 \% & 84.20 \%\\
Pedestrian (Detection) & 62.01 \% & 52.30 \% & 50.10 \%\\
Pedestrian (Orientation) & 56.55 \% & 46.64 \% & 44.23 \%\\
Pedestrian (3D Detection) & 44.63 \% & 37.37 \% & 34.92 \%\\
Pedestrian (Bird's Eye View) & 50.63 \% & 43.43 \% & 41.58 \%\\
Cyclist (Detection) & 82.79 \% & 72.81 \% & 66.72 \%\\
Cyclist (Orientation) & 82.31 \% & 71.04 \% & 65.13 \%\\
Cyclist (3D Detection) & 75.24 \% & 61.70 \% & 55.32 \%\\
Cyclist (Bird's Eye View) & 78.53 \% & 66.71 \% & 60.19 \%
\end{tabular}