\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 84.51 \% & 77.00 \% & 67.81 \%\\
Car (Orientation) & 84.35 \% & 76.50 \% & 67.12 \%\\
Car (3D Detection) & 65.54 \% & 58.48 \% & 46.54 \%\\
Car (Bird's Eye View) & 80.09 \% & 73.01 \% & 58.56 \%\\
Pedestrian (Detection) & 66.10 \% & 50.25 \% & 48.66 \%\\
Pedestrian (Orientation) & 62.19 \% & 46.86 \% & 44.92 \%\\
Pedestrian (3D Detection) & 35.85 \% & 31.65 \% & 26.94 \%\\
Pedestrian (Bird's Eye View) & 43.11 \% & 34.25 \% & 33.01 \%\\
Cyclist (Detection) & 65.31 \% & 47.53 \% & 40.23 \%\\
Cyclist (Orientation) & 64.55 \% & 46.66 \% & 39.30 \%\\
Cyclist (3D Detection) & 50.58 \% & 35.39 \% & 33.55 \%\\
Cyclist (Bird's Eye View) & 53.29 \% & 41.57 \% & 35.80 \%
\end{tabular}