\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.96 \% & 95.04 \% & 92.41 \%\\
Car (Orientation) & 95.93 \% & 94.91 \% & 92.22 \%\\
Car (3D Detection) & 88.17 \% & 79.66 \% & 74.75 \%\\
Car (Bird's Eye View) & 92.64 \% & 89.07 \% & 85.96 \%\\
Pedestrian (Detection) & 64.91 \% & 55.41 \% & 53.19 \%\\
Pedestrian (Orientation) & 62.42 \% & 52.34 \% & 49.92 \%\\
Pedestrian (3D Detection) & 46.13 \% & 38.71 \% & 36.61 \%\\
Pedestrian (Bird's Eye View) & 51.37 \% & 43.81 \% & 41.62 \%\\
Cyclist (Detection) & 87.23 \% & 77.00 \% & 70.90 \%\\
Cyclist (Orientation) & 87.01 \% & 76.73 \% & 70.57 \%\\
Cyclist (3D Detection) & 77.98 \% & 64.65 \% & 58.53 \%\\
Cyclist (Bird's Eye View) & 81.93 \% & 69.79 \% & 62.63 \%
\end{tabular}