\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.89 \% & 94.77 \% & 92.23 \%\\
Car (Orientation) & 95.88 \% & 94.66 \% & 92.07 \%\\
Car (3D Detection) & 89.21 \% & 81.35 \% & 76.87 \%\\
Car (Bird's Eye View) & 92.27 \% & 90.12 \% & 85.94 \%\\
Pedestrian (Detection) & 62.27 \% & 53.83 \% & 51.61 \%\\
Pedestrian (Orientation) & 58.39 \% & 49.30 \% & 46.81 \%\\
Pedestrian (3D Detection) & 42.44 \% & 36.79 \% & 34.96 \%\\
Pedestrian (Bird's Eye View) & 47.24 \% & 42.42 \% & 39.96 \%\\
Cyclist (Detection) & 88.02 \% & 73.16 \% & 65.37 \%\\
Cyclist (Orientation) & 87.59 \% & 72.70 \% & 64.96 \%\\
Cyclist (3D Detection) & 77.24 \% & 59.55 \% & 53.47 \%\\
Cyclist (Bird's Eye View) & 81.32 \% & 63.06 \% & 56.65 \%
\end{tabular}