\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.86 \% & 94.24 \% & 91.80 \%\\
Car (Orientation) & 95.83 \% & 94.08 \% & 91.55 \%\\
Car (3D Detection) & 87.73 \% & 80.38 \% & 76.27 \%\\
Car (Bird's Eye View) & 92.01 \% & 88.17 \% & 85.43 \%\\
Pedestrian (Detection) & 68.45 \% & 58.70 \% & 56.23 \%\\
Pedestrian (Orientation) & 63.39 \% & 53.36 \% & 50.43 \%\\
Pedestrian (3D Detection) & 47.30 \% & 39.43 \% & 36.99 \%\\
Pedestrian (Bird's Eye View) & 52.42 \% & 44.84 \% & 42.56 \%\\
Cyclist (Detection) & 85.44 \% & 73.68 \% & 66.94 \%\\
Cyclist (Orientation) & 85.22 \% & 73.21 \% & 66.45 \%\\
Cyclist (3D Detection) & 77.35 \% & 62.02 \% & 55.52 \%\\
Cyclist (Bird's Eye View) & 79.64 \% & 64.52 \% & 57.90 \%
\end{tabular}