\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.91 \% & 94.75 \% & 92.16 \%\\
Car (Orientation) & 95.89 \% & 94.63 \% & 92.00 \%\\
Car (3D Detection) & 89.65 \% & 81.06 \% & 76.67 \%\\
Car (Bird's Eye View) & 94.29 \% & 90.33 \% & 85.99 \%\\
Pedestrian (Detection) & 66.29 \% & 57.59 \% & 55.14 \%\\
Pedestrian (Orientation) & 63.18 \% & 53.77 \% & 50.98 \%\\
Pedestrian (3D Detection) & 46.71 \% & 40.85 \% & 38.54 \%\\
Pedestrian (Bird's Eye View) & 50.50 \% & 45.26 \% & 43.21 \%\\
Cyclist (Detection) & 89.88 \% & 81.03 \% & 75.05 \%\\
Cyclist (Orientation) & 89.76 \% & 80.36 \% & 74.40 \%\\
Cyclist (3D Detection) & 83.01 \% & 68.33 \% & 61.07 \%\\
Cyclist (Bird's Eye View) & 86.25 \% & 72.50 \% & 65.38 \%
\end{tabular}