\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.09 \% & 94.30 \% & 91.51 \%\\
Car (Orientation) & 95.08 \% & 94.20 \% & 91.35 \%\\
Car (3D Detection) & 84.74 \% & 77.20 \% & 73.94 \%\\
Car (Bird's Eye View) & 90.54 \% & 88.81 \% & 84.62 \%\\
Pedestrian (Detection) & 69.79 \% & 59.75 \% & 57.34 \%\\
Pedestrian (Orientation) & 68.29 \% & 57.68 \% & 54.96 \%\\
Pedestrian (3D Detection) & 52.67 \% & 44.54 \% & 41.78 \%\\
Pedestrian (Bird's Eye View) & 58.10 \% & 49.68 \% & 47.07 \%\\
Cyclist (Detection) & 91.96 \% & 77.89 \% & 70.70 \%\\
Cyclist (Orientation) & 91.83 \% & 77.68 \% & 70.46 \%\\
Cyclist (3D Detection) & 87.61 \% & 68.95 \% & 60.78 \%\\
Cyclist (Bird's Eye View) & 88.92 \% & 71.87 \% & 63.73 \%
\end{tabular}