\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.97 \% & 94.71 \% & 92.07 \%\\
Car (Orientation) & 95.95 \% & 94.57 \% & 91.88 \%\\
Car (3D Detection) & 89.87 \% & 81.32 \% & 76.68 \%\\
Car (Bird's Eye View) & 92.59 \% & 90.07 \% & 85.82 \%\\
Pedestrian (Detection) & 67.15 \% & 56.75 \% & 53.44 \%\\
Pedestrian (Orientation) & 52.75 \% & 43.86 \% & 41.15 \%\\
Pedestrian (3D Detection) & 54.26 \% & 45.44 \% & 41.94 \%\\
Pedestrian (Bird's Eye View) & 57.13 \% & 48.78 \% & 45.56 \%\\
Cyclist (Detection) & 87.94 \% & 80.70 \% & 73.86 \%\\
Cyclist (Orientation) & 87.79 \% & 80.25 \% & 73.41 \%\\
Cyclist (3D Detection) & 83.68 \% & 68.81 \% & 61.45 \%\\
Cyclist (Bird's Eye View) & 85.35 \% & 72.51 \% & 65.55 \%
\end{tabular}