\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.54 \% & 94.97 \% & 92.24 \%\\
Car (Orientation) & 95.51 \% & 94.84 \% & 92.03 \%\\
Car (3D Detection) & 86.41 \% & 77.88 \% & 72.90 \%\\
Car (Bird's Eye View) & 91.61 \% & 88.06 \% & 84.96 \%\\
Pedestrian (Detection) & 69.22 \% & 58.83 \% & 55.36 \%\\
Pedestrian (Orientation) & 65.47 \% & 54.57 \% & 50.98 \%\\
Pedestrian (3D Detection) & 55.13 \% & 45.60 \% & 42.94 \%\\
Pedestrian (Bird's Eye View) & 60.47 \% & 50.68 \% & 48.07 \%\\
Cyclist (Detection) & 83.71 \% & 75.00 \% & 68.71 \%\\
Cyclist (Orientation) & 83.36 \% & 74.33 \% & 68.05 \%\\
Cyclist (3D Detection) & 77.63 \% & 63.97 \% & 57.36 \%\\
Cyclist (Bird's Eye View) & 80.22 \% & 68.02 \% & 61.54 \%
\end{tabular}