\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.58 \% & 93.72 \% & 91.37 \%\\
Car (Orientation) & 95.56 \% & 93.62 \% & 91.20 \%\\
Car (3D Detection) & 85.93 \% & 77.75 \% & 73.00 \%\\
Car (Bird's Eye View) & 91.34 \% & 87.87 \% & 84.82 \%\\
Pedestrian (Detection) & 65.53 \% & 56.13 \% & 53.73 \%\\
Pedestrian (Orientation) & 63.61 \% & 53.76 \% & 51.23 \%\\
Pedestrian (3D Detection) & 49.01 \% & 41.65 \% & 38.45 \%\\
Pedestrian (Bird's Eye View) & 55.52 \% & 47.76 \% & 44.97 \%\\
Cyclist (Detection) & 83.26 \% & 71.34 \% & 65.48 \%\\
Cyclist (Orientation) & 83.10 \% & 70.89 \% & 65.01 \%\\
Cyclist (3D Detection) & 78.65 \% & 63.08 \% & 56.22 \%\\
Cyclist (Bird's Eye View) & 82.61 \% & 67.93 \% & 60.78 \%
\end{tabular}