\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.82 \% & 94.78 \% & 92.27 \%\\
Car (Orientation) & 95.80 \% & 94.67 \% & 92.09 \%\\
Car (3D Detection) & 87.16 \% & 80.75 \% & 76.43 \%\\
Car (Bird's Eye View) & 91.88 \% & 88.25 \% & 85.67 \%\\
Pedestrian (Detection) & 66.11 \% & 57.50 \% & 55.21 \%\\
Pedestrian (Orientation) & 61.91 \% & 52.77 \% & 50.29 \%\\
Pedestrian (3D Detection) & 46.04 \% & 40.00 \% & 37.84 \%\\
Pedestrian (Bird's Eye View) & 49.71 \% & 44.67 \% & 42.64 \%\\
Cyclist (Detection) & 89.46 \% & 80.85 \% & 74.01 \%\\
Cyclist (Orientation) & 89.14 \% & 80.31 \% & 73.46 \%\\
Cyclist (3D Detection) & 84.55 \% & 69.10 \% & 62.15 \%\\
Cyclist (Bird's Eye View) & 86.95 \% & 73.17 \% & 66.01 \%
\end{tabular}