\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.89 \% & 93.33 \% & 90.51 \%\\
Car (Orientation) & 95.86 \% & 93.23 \% & 90.36 \%\\
Car (3D Detection) & 87.40 \% & 79.41 \% & 74.61 \%\\
Car (Bird's Eye View) & 92.23 \% & 88.99 \% & 84.21 \%\\
Pedestrian (Detection) & 66.03 \% & 56.25 \% & 52.79 \%\\
Pedestrian (Orientation) & 63.36 \% & 53.10 \% & 49.53 \%\\
Pedestrian (3D Detection) & 47.82 \% & 40.71 \% & 37.43 \%\\
Pedestrian (Bird's Eye View) & 53.65 \% & 46.32 \% & 42.98 \%\\
Cyclist (Detection) & 84.98 \% & 73.40 \% & 67.27 \%\\
Cyclist (Orientation) & 84.78 \% & 73.13 \% & 66.98 \%\\
Cyclist (3D Detection) & 78.71 \% & 64.52 \% & 58.27 \%\\
Cyclist (Bird's Eye View) & 82.41 \% & 69.81 \% & 62.17 \%
\end{tabular}