\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.80 \% & 94.44 \% & 92.02 \%\\
Car (Orientation) & 95.78 \% & 94.31 \% & 91.85 \%\\
Car (3D Detection) & 88.36 \% & 81.17 \% & 76.89 \%\\
Car (Bird's Eye View) & 92.49 \% & 88.41 \% & 85.89 \%\\
Pedestrian (Detection) & 64.75 \% & 55.60 \% & 53.23 \%\\
Pedestrian (Orientation) & 60.97 \% & 51.63 \% & 49.10 \%\\
Pedestrian (3D Detection) & 45.38 \% & 39.69 \% & 37.56 \%\\
Pedestrian (Bird's Eye View) & 50.57 \% & 44.85 \% & 42.78 \%\\
Cyclist (Detection) & 84.81 \% & 77.04 \% & 71.13 \%\\
Cyclist (Orientation) & 84.70 \% & 76.77 \% & 70.83 \%\\
Cyclist (3D Detection) & 80.19 \% & 65.27 \% & 59.40 \%\\
Cyclist (Bird's Eye View) & 81.79 \% & 69.71 \% & 63.36 \%
\end{tabular}