\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.85 \% & 93.96 \% & 91.14 \%\\
Car (Orientation) & 94.84 \% & 93.82 \% & 90.92 \%\\
Car (3D Detection) & 85.20 \% & 77.45 \% & 73.84 \%\\
Car (Bird's Eye View) & 90.54 \% & 87.58 \% & 84.34 \%\\
Pedestrian (Detection) & 65.94 \% & 56.03 \% & 53.94 \%\\
Pedestrian (Orientation) & 63.41 \% & 52.73 \% & 50.32 \%\\
Pedestrian (3D Detection) & 46.05 \% & 38.81 \% & 36.15 \%\\
Pedestrian (Bird's Eye View) & 51.36 \% & 44.46 \% & 42.47 \%\\
Cyclist (Detection) & 84.43 \% & 74.75 \% & 67.71 \%\\
Cyclist (Orientation) & 84.32 \% & 74.46 \% & 67.43 \%\\
Cyclist (3D Detection) & 78.09 \% & 63.34 \% & 56.30 \%\\
Cyclist (Bird's Eye View) & 82.37 \% & 68.62 \% & 61.11 \%
\end{tabular}