\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.64 \% & 86.21 \% & 76.83 \%\\
Car (Orientation) & 95.15 \% & 84.75 \% & 75.34 \%\\
Car (3D Detection) & 64.78 \% & 43.27 \% & 37.13 \%\\
Car (Bird's Eye View) & 79.75 \% & 58.04 \% & 49.78 \%\\
Pedestrian (Detection) & 50.26 \% & 38.62 \% & 34.87 \%\\
Pedestrian (Orientation) & 40.27 \% & 30.02 \% & 26.86 \%\\
Pedestrian (3D Detection) & 28.68 \% & 20.65 \% & 17.65 \%\\
Pedestrian (Bird's Eye View) & 33.00 \% & 23.62 \% & 20.35 \%\\
Cyclist (Detection) & 45.05 \% & 28.78 \% & 25.66 \%\\
Cyclist (Orientation) & 38.00 \% & 23.93 \% & 21.58 \%\\
Cyclist (3D Detection) & 28.50 \% & 17.28 \% & 15.56 \%\\
Cyclist (Bird's Eye View) & 32.06 \% & 19.41 \% & 17.42 \%
\end{tabular}