\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.87 \% & 93.65 \% & 90.94 \%\\
Car (Orientation) & 94.84 \% & 93.50 \% & 90.72 \%\\
Car (3D Detection) & 86.02 \% & 77.65 \% & 72.39 \%\\
Car (Bird's Eye View) & 91.28 \% & 87.93 \% & 84.58 \%\\
Pedestrian (Detection) & 62.87 \% & 53.59 \% & 51.39 \%\\
Pedestrian (Orientation) & 59.53 \% & 49.76 \% & 47.22 \%\\
Pedestrian (3D Detection) & 46.12 \% & 39.00 \% & 36.53 \%\\
Pedestrian (Bird's Eye View) & 51.79 \% & 44.24 \% & 41.96 \%\\
Cyclist (Detection) & 84.07 \% & 71.48 \% & 65.22 \%\\
Cyclist (Orientation) & 83.86 \% & 71.12 \% & 64.85 \%\\
Cyclist (3D Detection) & 72.38 \% & 57.14 \% & 51.29 \%\\
Cyclist (Bird's Eye View) & 76.21 \% & 62.26 \% & 55.99 \%
\end{tabular}