\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.84 \% & 94.92 \% & 92.22 \%\\
Car (Orientation) & 95.80 \% & 94.76 \% & 91.94 \%\\
Car (3D Detection) & 90.53 \% & 83.84 \% & 79.10 \%\\
Car (Bird's Eye View) & 94.52 \% & 91.00 \% & 88.08 \%\\
Pedestrian (Detection) & 65.71 \% & 54.61 \% & 51.67 \%\\
Pedestrian (Orientation) & 58.42 \% & 47.59 \% & 44.64 \%\\
Pedestrian (3D Detection) & 46.76 \% & 39.07 \% & 35.74 \%\\
Pedestrian (Bird's Eye View) & 50.32 \% & 42.84 \% & 40.29 \%\\
Cyclist (Detection) & 83.88 \% & 73.43 \% & 68.12 \%\\
Cyclist (Orientation) & 83.69 \% & 73.07 \% & 67.72 \%\\
Cyclist (3D Detection) & 73.32 \% & 59.30 \% & 53.74 \%\\
Cyclist (Bird's Eye View) & 75.41 \% & 62.56 \% & 56.86 \%
\end{tabular}