\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.85 \% & 92.19 \% & 80.09 \%\\
Car (Orientation) & 95.81 \% & 91.98 \% & 79.83 \%\\
Car (3D Detection) & 87.36 \% & 76.39 \% & 66.69 \%\\
Car (Bird's Eye View) & 91.51 \% & 85.84 \% & 76.11 \%\\
Pedestrian (Detection) & 83.63 \% & 72.91 \% & 67.18 \%\\
Pedestrian (Orientation) & 75.19 \% & 63.87 \% & 58.57 \%\\
Pedestrian (3D Detection) & 52.16 \% & 43.38 \% & 38.80 \%\\
Pedestrian (Bird's Eye View) & 57.04 \% & 48.96 \% & 44.33 \%\\
Cyclist (Detection) & 86.75 \% & 78.05 \% & 68.12 \%\\
Cyclist (Orientation) & 86.39 \% & 76.71 \% & 66.92 \%\\
Cyclist (3D Detection) & 81.98 \% & 65.07 \% & 56.54 \%\\
Cyclist (Bird's Eye View) & 84.16 \% & 68.88 \% & 60.05 \%
\end{tabular}