\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.92 \% & 94.44 \% & 92.18 \%\\
Car (Orientation) & 95.90 \% & 94.35 \% & 92.02 \%\\
Car (3D Detection) & 90.59 \% & 81.63 \% & 77.28 \%\\
Car (Bird's Eye View) & 92.51 \% & 88.35 \% & 86.00 \%\\
Pedestrian (Detection) & 66.88 \% & 58.94 \% & 56.80 \%\\
Pedestrian (Orientation) & 60.17 \% & 51.76 \% & 49.28 \%\\
Pedestrian (3D Detection) & 51.58 \% & 44.03 \% & 40.77 \%\\
Pedestrian (Bird's Eye View) & 57.49 \% & 49.82 \% & 47.56 \%\\
Cyclist (Detection) & 80.50 \% & 74.06 \% & 68.54 \%\\
Cyclist (Orientation) & 80.36 \% & 73.55 \% & 67.90 \%\\
Cyclist (3D Detection) & 77.13 \% & 63.46 \% & 58.81 \%\\
Cyclist (Bird's Eye View) & 77.55 \% & 67.90 \% & 63.36 \%
\end{tabular}