\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.72 \% & 95.09 \% & 90.44 \%\\
Car (Orientation) & 95.71 \% & 95.00 \% & 90.31 \%\\
Car (3D Detection) & 88.52 \% & 80.16 \% & 75.05 \%\\
Car (Bird's Eye View) & 92.84 \% & 89.27 \% & 84.26 \%\\
Pedestrian (Detection) & 64.33 \% & 54.70 \% & 52.36 \%\\
Pedestrian (Orientation) & 62.38 \% & 52.11 \% & 49.56 \%\\
Pedestrian (3D Detection) & 47.70 \% & 40.20 \% & 37.69 \%\\
Pedestrian (Bird's Eye View) & 51.68 \% & 45.16 \% & 42.69 \%\\
Cyclist (Detection) & 86.78 \% & 75.98 \% & 69.51 \%\\
Cyclist (Orientation) & 86.57 \% & 75.64 \% & 69.16 \%\\
Cyclist (3D Detection) & 78.24 \% & 63.47 \% & 56.12 \%\\
Cyclist (Bird's Eye View) & 82.00 \% & 67.77 \% & 60.92 \%
\end{tabular}