\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.85 \% & 93.25 \% & 90.42 \%\\
Car (Orientation) & 95.84 \% & 93.17 \% & 90.27 \%\\
Car (3D Detection) & 88.15 \% & 79.85 \% & 74.81 \%\\
Car (Bird's Eye View) & 92.61 \% & 89.15 \% & 85.95 \%\\
Pedestrian (Detection) & 59.08 \% & 50.09 \% & 48.08 \%\\
Pedestrian (Orientation) & 56.93 \% & 47.56 \% & 45.33 \%\\
Pedestrian (3D Detection) & 44.55 \% & 37.77 \% & 34.97 \%\\
Pedestrian (Bird's Eye View) & 49.28 \% & 41.95 \% & 39.72 \%\\
Cyclist (Detection) & 86.18 \% & 74.81 \% & 68.26 \%\\
Cyclist (Orientation) & 86.04 \% & 74.62 \% & 68.06 \%\\
Cyclist (3D Detection) & 80.96 \% & 66.12 \% & 59.50 \%\\
Cyclist (Bird's Eye View) & 85.14 \% & 70.91 \% & 63.30 \%
\end{tabular}