\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.97 \% & 94.63 \% & 92.08 \%\\
Car (Orientation) & 95.95 \% & 94.53 \% & 91.92 \%\\
Car (3D Detection) & 87.87 \% & 80.97 \% & 76.54 \%\\
Car (Bird's Eye View) & 94.26 \% & 89.93 \% & 85.76 \%\\
Pedestrian (Detection) & 65.50 \% & 55.97 \% & 53.64 \%\\
Pedestrian (Orientation) & 62.52 \% & 52.59 \% & 49.89 \%\\
Pedestrian (3D Detection) & 47.35 \% & 40.64 \% & 37.71 \%\\
Pedestrian (Bird's Eye View) & 50.84 \% & 44.17 \% & 42.02 \%\\
Cyclist (Detection) & 85.36 \% & 76.25 \% & 70.09 \%\\
Cyclist (Orientation) & 85.23 \% & 75.79 \% & 69.60 \%\\
Cyclist (3D Detection) & 78.53 \% & 64.58 \% & 57.66 \%\\
Cyclist (Bird's Eye View) & 79.80 \% & 68.24 \% & 61.05 \%
\end{tabular}