\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.07 \% & 93.84 \% & 92.63 \%\\
Car (Orientation) & 95.05 \% & 93.73 \% & 92.46 \%\\
Car (3D Detection) & 89.72 \% & 82.97 \% & 79.79 \%\\
Car (Bird's Eye View) & 93.46 \% & 90.07 \% & 87.94 \%\\
Pedestrian (Detection) & 74.58 \% & 64.01 \% & 60.25 \%\\
Pedestrian (Orientation) & 72.03 \% & 60.86 \% & 56.99 \%\\
Pedestrian (3D Detection) & 56.10 \% & 48.04 \% & 45.62 \%\\
Pedestrian (Bird's Eye View) & 59.75 \% & 52.59 \% & 49.13 \%\\
Cyclist (Detection) & 92.39 \% & 84.23 \% & 78.40 \%\\
Cyclist (Orientation) & 92.26 \% & 83.95 \% & 78.04 \%\\
Cyclist (3D Detection) & 87.84 \% & 73.86 \% & 66.76 \%\\
Cyclist (Bird's Eye View) & 88.86 \% & 76.92 \% & 69.85 \%
\end{tabular}