\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.99 \% & 94.75 \% & 92.28 \%\\
Car (Orientation) & 95.98 \% & 94.64 \% & 92.09 \%\\
Car (3D Detection) & 88.40 \% & 81.69 \% & 77.09 \%\\
Car (Bird's Eye View) & 92.26 \% & 88.70 \% & 85.84 \%\\
Pedestrian (Detection) & 67.94 \% & 58.25 \% & 55.96 \%\\
Pedestrian (Orientation) & 64.68 \% & 54.53 \% & 51.90 \%\\
Pedestrian (3D Detection) & 49.08 \% & 42.21 \% & 39.19 \%\\
Pedestrian (Bird's Eye View) & 53.69 \% & 46.77 \% & 43.89 \%\\
Cyclist (Detection) & 88.38 \% & 75.75 \% & 69.02 \%\\
Cyclist (Orientation) & 88.22 \% & 75.42 \% & 68.69 \%\\
Cyclist (3D Detection) & 83.49 \% & 66.45 \% & 59.60 \%\\
Cyclist (Bird's Eye View) & 84.32 \% & 69.13 \% & 62.24 \%
\end{tabular}