\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.71 \% & 93.32 \% & 90.82 \%\\
Car (Orientation) & 94.68 \% & 93.16 \% & 90.59 \%\\
Car (3D Detection) & 86.96 \% & 80.19 \% & 75.97 \%\\
Car (Bird's Eye View) & 91.25 \% & 87.17 \% & 84.54 \%\\
Pedestrian (Detection) & 62.15 \% & 53.23 \% & 51.04 \%\\
Pedestrian (Orientation) & 57.80 \% & 48.45 \% & 45.96 \%\\
Pedestrian (3D Detection) & 44.36 \% & 37.75 \% & 35.53 \%\\
Pedestrian (Bird's Eye View) & 48.76 \% & 42.14 \% & 40.08 \%\\
Cyclist (Detection) & 89.71 \% & 77.49 \% & 70.58 \%\\
Cyclist (Orientation) & 89.56 \% & 77.19 \% & 70.28 \%\\
Cyclist (3D Detection) & 81.73 \% & 64.46 \% & 57.71 \%\\
Cyclist (Bird's Eye View) & 84.79 \% & 69.56 \% & 62.47 \%
\end{tabular}