\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.21 \% & 93.98 \% & 90.94 \%\\
Car (Orientation) & 95.19 \% & 93.84 \% & 90.71 \%\\
Car (3D Detection) & 86.06 \% & 77.21 \% & 71.89 \%\\
Car (Bird's Eye View) & 91.35 \% & 87.70 \% & 84.38 \%\\
Pedestrian (Detection) & 62.22 \% & 53.10 \% & 50.28 \%\\
Pedestrian (Orientation) & 58.85 \% & 49.31 \% & 46.35 \%\\
Pedestrian (3D Detection) & 42.89 \% & 36.32 \% & 34.33 \%\\
Pedestrian (Bird's Eye View) & 48.10 \% & 41.94 \% & 40.05 \%\\
Cyclist (Detection) & 85.61 \% & 74.02 \% & 67.70 \%\\
Cyclist (Orientation) & 85.31 \% & 73.69 \% & 67.38 \%\\
Cyclist (3D Detection) & 75.60 \% & 60.30 \% & 53.83 \%\\
Cyclist (Bird's Eye View) & 79.61 \% & 65.12 \% & 58.84 \%
\end{tabular}