\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.84 \% & 93.22 \% & 91.32 \%\\
Car (Orientation) & 94.83 \% & 93.13 \% & 91.17 \%\\
Car (3D Detection) & 83.37 \% & 76.91 \% & 73.88 \%\\
Car (Bird's Eye View) & 89.50 \% & 87.30 \% & 84.61 \%\\
Pedestrian (Detection) & 68.10 \% & 57.09 \% & 54.54 \%\\
Pedestrian (Orientation) & 65.75 \% & 54.49 \% & 51.64 \%\\
Pedestrian (3D Detection) & 50.15 \% & 41.90 \% & 39.03 \%\\
Pedestrian (Bird's Eye View) & 55.26 \% & 47.35 \% & 44.55 \%\\
Cyclist (Detection) & 85.33 \% & 73.10 \% & 66.28 \%\\
Cyclist (Orientation) & 85.21 \% & 72.88 \% & 66.04 \%\\
Cyclist (3D Detection) & 81.60 \% & 64.66 \% & 57.43 \%\\
Cyclist (Bird's Eye View) & 84.83 \% & 68.34 \% & 60.58 \%
\end{tabular}