\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.76 \% & 94.63 \% & 92.17 \%\\
Car (Orientation) & 95.71 \% & 94.49 \% & 91.98 \%\\
Car (3D Detection) & 87.72 \% & 81.29 \% & 76.78 \%\\
Car (Bird's Eye View) & 91.93 \% & 89.75 \% & 85.77 \%\\
Pedestrian (Detection) & 67.99 \% & 59.26 \% & 56.41 \%\\
Pedestrian (Orientation) & 64.32 \% & 54.97 \% & 51.85 \%\\
Pedestrian (3D Detection) & 47.50 \% & 40.31 \% & 38.15 \%\\
Pedestrian (Bird's Eye View) & 51.20 \% & 44.61 \% & 42.55 \%\\
Cyclist (Detection) & 86.50 \% & 79.01 \% & 72.88 \%\\
Cyclist (Orientation) & 86.39 \% & 78.56 \% & 72.31 \%\\
Cyclist (3D Detection) & 80.34 \% & 67.46 \% & 60.48 \%\\
Cyclist (Bird's Eye View) & 83.83 \% & 71.51 \% & 64.77 \%
\end{tabular}