\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.89 \% & 94.12 \% & 91.92 \%\\
Car (Orientation) & 95.88 \% & 94.05 \% & 91.78 \%\\
Car (3D Detection) & 90.35 \% & 81.21 \% & 77.00 \%\\
Car (Bird's Eye View) & 92.22 \% & 89.55 \% & 85.79 \%\\
Pedestrian (Detection) & 64.82 \% & 57.56 \% & 55.40 \%\\
Pedestrian (Orientation) & 60.06 \% & 52.08 \% & 49.59 \%\\
Pedestrian (3D Detection) & 50.82 \% & 43.70 \% & 41.50 \%\\
Pedestrian (Bird's Eye View) & 56.49 \% & 49.31 \% & 47.20 \%\\
Cyclist (Detection) & 85.91 \% & 77.29 \% & 72.09 \%\\
Cyclist (Orientation) & 85.49 \% & 76.19 \% & 70.95 \%\\
Cyclist (3D Detection) & 81.05 \% & 64.96 \% & 59.68 \%\\
Cyclist (Bird's Eye View) & 83.04 \% & 71.83 \% & 66.48 \%
\end{tabular}