\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.73 \% & 92.94 \% & 89.50 \%\\
Car (Orientation) & 94.72 \% & 92.82 \% & 89.33 \%\\
Car (3D Detection) & 83.47 \% & 76.12 \% & 71.17 \%\\
Car (Bird's Eye View) & 90.04 \% & 87.04 \% & 83.32 \%\\
Pedestrian (Detection) & 65.95 \% & 57.06 \% & 55.08 \%\\
Pedestrian (Orientation) & 63.77 \% & 54.48 \% & 52.20 \%\\
Pedestrian (3D Detection) & 46.68 \% & 39.74 \% & 37.33 \%\\
Pedestrian (Bird's Eye View) & 51.41 \% & 45.22 \% & 43.05 \%\\
Cyclist (Detection) & 86.02 \% & 75.03 \% & 68.18 \%\\
Cyclist (Orientation) & 85.81 \% & 74.76 \% & 67.86 \%\\
Cyclist (3D Detection) & 76.27 \% & 59.80 \% & 53.02 \%\\
Cyclist (Bird's Eye View) & 79.83 \% & 64.99 \% & 58.43 \%
\end{tabular}