\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.93 \% & 95.08 \% & 92.36 \%\\
Car (Orientation) & 95.92 \% & 94.99 \% & 92.22 \%\\
Car (3D Detection) & 88.23 \% & 81.23 \% & 76.53 \%\\
Car (Bird's Eye View) & 93.88 \% & 90.67 \% & 86.09 \%\\
Pedestrian (Detection) & 62.91 \% & 53.26 \% & 50.71 \%\\
Pedestrian (Orientation) & 61.33 \% & 51.05 \% & 48.28 \%\\
Pedestrian (3D Detection) & 45.67 \% & 38.61 \% & 36.28 \%\\
Pedestrian (Bird's Eye View) & 50.12 \% & 43.47 \% & 41.30 \%\\
Cyclist (Detection) & 85.23 \% & 76.31 \% & 69.74 \%\\
Cyclist (Orientation) & 85.13 \% & 75.98 \% & 69.35 \%\\
Cyclist (3D Detection) & 80.73 \% & 66.78 \% & 59.56 \%\\
Cyclist (Bird's Eye View) & 84.28 \% & 71.90 \% & 63.75 \%
\end{tabular}