\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.97 \% & 91.90 \% & 88.74 \%\\
Car (Orientation) & 94.92 \% & 91.70 \% & 88.44 \%\\
Car (3D Detection) & 80.40 \% & 73.15 \% & 68.57 \%\\
Car (Bird's Eye View) & 89.33 \% & 86.36 \% & 81.77 \%\\
Pedestrian (Detection) & 65.56 \% & 55.01 \% & 52.43 \%\\
Pedestrian (Orientation) & 63.52 \% & 52.70 \% & 49.91 \%\\
Pedestrian (3D Detection) & 47.29 \% & 39.43 \% & 36.74 \%\\
Pedestrian (Bird's Eye View) & 52.64 \% & 44.50 \% & 41.86 \%\\
Cyclist (Detection) & 83.14 \% & 70.28 \% & 64.12 \%\\
Cyclist (Orientation) & 82.95 \% & 70.09 \% & 63.92 \%\\
Cyclist (3D Detection) & 74.49 \% & 57.82 \% & 51.53 \%\\
Cyclist (Bird's Eye View) & 77.53 \% & 62.23 \% & 55.46 \%
\end{tabular}