\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.81 \% & 94.61 \% & 91.93 \%\\
Car (Orientation) & 95.77 \% & 94.40 \% & 91.61 \%\\
Car (3D Detection) & 87.38 \% & 78.82 \% & 75.89 \%\\
Car (Bird's Eye View) & 92.02 \% & 88.42 \% & 85.73 \%\\
Pedestrian (Detection) & 71.81 \% & 62.06 \% & 58.21 \%\\
Pedestrian (Orientation) & 66.56 \% & 56.36 \% & 52.55 \%\\
Pedestrian (3D Detection) & 51.70 \% & 45.29 \% & 41.90 \%\\
Pedestrian (Bird's Eye View) & 57.56 \% & 50.78 \% & 47.31 \%\\
Cyclist (Detection) & 88.31 \% & 79.18 \% & 72.49 \%\\
Cyclist (Orientation) & 88.03 \% & 78.77 \% & 72.02 \%\\
Cyclist (3D Detection) & 80.65 \% & 64.55 \% & 58.27 \%\\
Cyclist (Bird's Eye View) & 83.51 \% & 69.18 \% & 62.71 \%
\end{tabular}