\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.51 \% & 93.95 \% & 91.57 \%\\
Car (Orientation) & 95.48 \% & 93.79 \% & 91.30 \%\\
Car (3D Detection) & 86.84 \% & 79.88 \% & 75.89 \%\\
Car (Bird's Eye View) & 91.44 \% & 87.76 \% & 85.15 \%\\
Pedestrian (Detection) & 67.78 \% & 57.32 \% & 54.86 \%\\
Pedestrian (Orientation) & 62.72 \% & 52.10 \% & 49.19 \%\\
Pedestrian (3D Detection) & 46.23 \% & 38.74 \% & 36.06 \%\\
Pedestrian (Bird's Eye View) & 52.05 \% & 44.28 \% & 42.03 \%\\
Cyclist (Detection) & 85.18 \% & 73.19 \% & 65.41 \%\\
Cyclist (Orientation) & 84.96 \% & 72.73 \% & 64.94 \%\\
Cyclist (3D Detection) & 77.13 \% & 61.61 \% & 55.11 \%\\
Cyclist (Bird's Eye View) & 79.32 \% & 64.13 \% & 57.38 \%
\end{tabular}