\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.78 \% & 92.26 \% & 89.18 \%\\
Car (Orientation) & 94.76 \% & 92.07 \% & 88.88 \%\\
Car (3D Detection) & 83.53 \% & 74.78 \% & 69.79 \%\\
Car (Bird's Eye View) & 90.82 \% & 87.63 \% & 82.78 \%\\
Pedestrian (Detection) & 62.13 \% & 51.06 \% & 48.49 \%\\
Pedestrian (Orientation) & 58.03 \% & 46.81 \% & 44.00 \%\\
Pedestrian (3D Detection) & 47.99 \% & 39.57 \% & 36.47 \%\\
Pedestrian (Bird's Eye View) & 51.95 \% & 43.10 \% & 40.57 \%\\
Cyclist (Detection) & 82.48 \% & 71.93 \% & 67.17 \%\\
Cyclist (Orientation) & 82.29 \% & 71.45 \% & 66.65 \%\\
Cyclist (3D Detection) & 74.74 \% & 60.68 \% & 55.12 \%\\
Cyclist (Bird's Eye View) & 79.31 \% & 66.92 \% & 61.11 \%
\end{tabular}