\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.86 \% & 94.64 \% & 92.10 \%\\
Car (Orientation) & 95.84 \% & 94.52 \% & 91.93 \%\\
Car (3D Detection) & 88.25 \% & 81.46 \% & 76.96 \%\\
Car (Bird's Eye View) & 92.42 \% & 90.13 \% & 85.93 \%\\
Pedestrian (Detection) & 66.93 \% & 58.81 \% & 56.57 \%\\
Pedestrian (Orientation) & 63.12 \% & 54.38 \% & 51.98 \%\\
Pedestrian (3D Detection) & 46.97 \% & 40.89 \% & 38.80 \%\\
Pedestrian (Bird's Eye View) & 52.03 \% & 45.82 \% & 43.81 \%\\
Cyclist (Detection) & 88.65 \% & 80.57 \% & 74.81 \%\\
Cyclist (Orientation) & 88.52 \% & 80.05 \% & 74.20 \%\\
Cyclist (3D Detection) & 82.19 \% & 68.54 \% & 61.33 \%\\
Cyclist (Bird's Eye View) & 83.93 \% & 72.61 \% & 65.82 \%
\end{tabular}