\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.51 \% & 94.07 \% & 91.23 \%\\
Car (Orientation) & 95.50 \% & 93.96 \% & 91.05 \%\\
Car (3D Detection) & 86.96 \% & 77.86 \% & 73.94 \%\\
Car (Bird's Eye View) & 91.89 \% & 87.85 \% & 84.65 \%\\
Pedestrian (Detection) & 67.93 \% & 56.46 \% & 53.96 \%\\
Pedestrian (Orientation) & 65.59 \% & 53.48 \% & 50.71 \%\\
Pedestrian (3D Detection) & 49.90 \% & 42.16 \% & 38.86 \%\\
Pedestrian (Bird's Eye View) & 54.73 \% & 46.69 \% & 43.46 \%\\
Cyclist (Detection) & 85.29 \% & 72.00 \% & 66.07 \%\\
Cyclist (Orientation) & 85.16 \% & 71.60 \% & 65.66 \%\\
Cyclist (3D Detection) & 79.77 \% & 63.05 \% & 55.76 \%\\
Cyclist (Bird's Eye View) & 83.17 \% & 66.86 \% & 60.00 \%
\end{tabular}