\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.96 \% & 91.90 \% & 88.61 \%\\
Car (Orientation) & 94.93 \% & 91.72 \% & 88.32 \%\\
Car (3D Detection) & 84.00 \% & 74.19 \% & 69.65 \%\\
Car (Bird's Eye View) & 90.13 \% & 87.17 \% & 83.10 \%\\
Pedestrian (Detection) & 62.37 \% & 51.69 \% & 49.14 \%\\
Pedestrian (Orientation) & 55.89 \% & 45.03 \% & 42.29 \%\\
Pedestrian (3D Detection) & 45.22 \% & 37.47 \% & 34.95 \%\\
Pedestrian (Bird's Eye View) & 50.62 \% & 42.81 \% & 40.36 \%\\
Cyclist (Detection) & 82.71 \% & 70.28 \% & 64.10 \%\\
Cyclist (Orientation) & 82.16 \% & 69.59 \% & 63.42 \%\\
Cyclist (3D Detection) & 76.16 \% & 58.67 \% & 52.02 \%\\
Cyclist (Bird's Eye View) & 80.19 \% & 64.20 \% & 57.09 \%
\end{tabular}