\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.33 \% & 94.13 \% & 91.36 \%\\
Car (Orientation) & 95.32 \% & 94.01 \% & 91.14 \%\\
Car (3D Detection) & 84.23 \% & 76.99 \% & 73.75 \%\\
Car (Bird's Eye View) & 89.67 \% & 87.23 \% & 84.28 \%\\
Pedestrian (Detection) & 67.10 \% & 57.25 \% & 55.01 \%\\
Pedestrian (Orientation) & 64.38 \% & 53.81 \% & 51.29 \%\\
Pedestrian (3D Detection) & 45.23 \% & 39.01 \% & 37.25 \%\\
Pedestrian (Bird's Eye View) & 50.97 \% & 44.32 \% & 42.55 \%\\
Cyclist (Detection) & 87.96 \% & 75.38 \% & 69.54 \%\\
Cyclist (Orientation) & 87.83 \% & 75.04 \% & 69.19 \%\\
Cyclist (3D Detection) & 78.66 \% & 62.93 \% & 56.41 \%\\
Cyclist (Bird's Eye View) & 84.24 \% & 69.10 \% & 62.39 \%
\end{tabular}