\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.17 \% & 89.88 \% & 82.83 \%\\
Car (Orientation) & 94.98 \% & 89.22 \% & 82.14 \%\\
Car (3D Detection) & 76.39 \% & 66.47 \% & 60.23 \%\\
Car (Bird's Eye View) & 89.75 \% & 84.95 \% & 78.32 \%\\
Pedestrian (Detection) & 50.90 \% & 39.43 \% & 35.75 \%\\
Pedestrian (Orientation) & 42.54 \% & 32.19 \% & 29.09 \%\\
Pedestrian (3D Detection) & 36.10 \% & 27.86 \% & 25.76 \%\\
Pedestrian (Bird's Eye View) & 42.58 \% & 33.57 \% & 30.14 \%\\
Cyclist (Detection) & 66.45 \% & 52.60 \% & 46.39 \%\\
Cyclist (Orientation) & 64.81 \% & 51.05 \% & 45.12 \%\\
Cyclist (3D Detection) & 57.19 \% & 42.08 \% & 38.29 \%\\
Cyclist (Bird's Eye View) & 64.11 \% & 48.15 \% & 42.37 \%
\end{tabular}