\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.35 \% & 94.57 \% & 91.77 \%\\
Car (Orientation) & 95.33 \% & 94.44 \% & 91.55 \%\\
Car (3D Detection) & 86.20 \% & 79.18 \% & 74.58 \%\\
Car (Bird's Eye View) & 90.93 \% & 87.68 \% & 84.60 \%\\
Pedestrian (Detection) & 63.54 \% & 54.13 \% & 51.79 \%\\
Pedestrian (Orientation) & 60.32 \% & 50.52 \% & 47.92 \%\\
Pedestrian (3D Detection) & 43.55 \% & 37.50 \% & 35.33 \%\\
Pedestrian (Bird's Eye View) & 50.98 \% & 44.12 \% & 41.62 \%\\
Cyclist (Detection) & 85.45 \% & 73.66 \% & 67.10 \%\\
Cyclist (Orientation) & 85.32 \% & 73.43 \% & 66.87 \%\\
Cyclist (3D Detection) & 78.73 \% & 62.00 \% & 55.18 \%\\
Cyclist (Bird's Eye View) & 82.29 \% & 67.40 \% & 60.71 \%
\end{tabular}