\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.91 \% & 94.83 \% & 92.48 \%\\
Car (Orientation) & 95.88 \% & 94.75 \% & 92.36 \%\\
Car (3D Detection) & 90.60 \% & 82.13 \% & 79.51 \%\\
Car (Bird's Eye View) & 92.58 \% & 90.74 \% & 88.36 \%\\
Pedestrian (Detection) & 55.88 \% & 47.64 \% & 45.66 \%\\
Pedestrian (Orientation) & 53.24 \% & 44.56 \% & 42.43 \%\\
Pedestrian (3D Detection) & 41.12 \% & 35.64 \% & 33.95 \%\\
Pedestrian (Bird's Eye View) & 46.08 \% & 40.56 \% & 38.76 \%\\
Cyclist (Detection) & 84.14 \% & 76.02 \% & 70.24 \%\\
Cyclist (Orientation) & 83.97 \% & 75.67 \% & 69.88 \%\\
Cyclist (3D Detection) & 78.88 \% & 64.36 \% & 58.60 \%\\
Cyclist (Bird's Eye View) & 80.78 \% & 68.06 \% & 62.15 \%
\end{tabular}