\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.50 \% & 93.72 \% & 91.19 \%\\
Car (Orientation) & 94.48 \% & 93.61 \% & 91.01 \%\\
Car (3D Detection) & 83.77 \% & 76.25 \% & 73.51 \%\\
Car (Bird's Eye View) & 89.67 \% & 86.48 \% & 83.73 \%\\
Pedestrian (Detection) & 66.05 \% & 55.81 \% & 53.73 \%\\
Pedestrian (Orientation) & 64.51 \% & 53.97 \% & 51.68 \%\\
Pedestrian (3D Detection) & 48.69 \% & 40.66 \% & 37.81 \%\\
Pedestrian (Bird's Eye View) & 53.73 \% & 45.94 \% & 43.61 \%\\
Cyclist (Detection) & 84.32 \% & 72.47 \% & 64.87 \%\\
Cyclist (Orientation) & 84.20 \% & 72.23 \% & 64.65 \%\\
Cyclist (3D Detection) & 75.61 \% & 60.60 \% & 53.26 \%\\
Cyclist (Bird's Eye View) & 81.47 \% & 65.22 \% & 58.11 \%
\end{tabular}