\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.83 \% & 95.28 \% & 94.28 \%\\
Car (Orientation) & 95.81 \% & 95.17 \% & 94.10 \%\\
Car (3D Detection) & 90.68 \% & 84.04 \% & 79.69 \%\\
Car (Bird's Eye View) & 94.57 \% & 91.22 \% & 88.43 \%\\
Pedestrian (Detection) & 74.41 \% & 64.94 \% & 62.35 \%\\
Pedestrian (Orientation) & 71.78 \% & 61.59 \% & 58.71 \%\\
Pedestrian (3D Detection) & 56.33 \% & 49.29 \% & 46.70 \%\\
Pedestrian (Bird's Eye View) & 60.14 \% & 53.84 \% & 51.35 \%\\
Cyclist (Detection) & 92.38 \% & 84.26 \% & 78.42 \%\\
Cyclist (Orientation) & 92.24 \% & 83.98 \% & 78.05 \%\\
Cyclist (3D Detection) & 87.76 \% & 73.79 \% & 66.84 \%\\
Cyclist (Bird's Eye View) & 88.93 \% & 76.99 \% & 70.10 \%
\end{tabular}