\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.89 \% & 94.53 \% & 91.98 \%\\
Car (Orientation) & 95.85 \% & 94.34 \% & 91.73 \%\\
Car (3D Detection) & 88.01 \% & 79.09 \% & 76.43 \%\\
Car (Bird's Eye View) & 92.31 \% & 88.36 \% & 85.81 \%\\
Pedestrian (Detection) & 63.13 \% & 52.73 \% & 50.44 \%\\
Pedestrian (Orientation) & 58.19 \% & 47.39 \% & 44.80 \%\\
Pedestrian (3D Detection) & 44.22 \% & 38.40 \% & 35.46 \%\\
Pedestrian (Bird's Eye View) & 49.38 \% & 43.29 \% & 40.33 \%\\
Cyclist (Detection) & 85.63 \% & 76.28 \% & 69.91 \%\\
Cyclist (Orientation) & 85.41 \% & 75.55 \% & 69.15 \%\\
Cyclist (3D Detection) & 81.50 \% & 66.91 \% & 59.47 \%\\
Cyclist (Bird's Eye View) & 84.47 \% & 70.52 \% & 63.85 \%
\end{tabular}