\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.22 \% & 87.88 \% & 78.49 \%\\
Car (Orientation) & 95.99 \% & 86.93 \% & 77.54 \%\\
Car (3D Detection) & 87.03 \% & 71.75 \% & 64.87 \%\\
Car (Bird's Eye View) & 92.36 \% & 81.28 \% & 72.11 \%\\
Pedestrian (Detection) & 65.96 \% & 54.08 \% & 49.82 \%\\
Pedestrian (Orientation) & 59.02 \% & 47.28 \% & 43.17 \%\\
Pedestrian (3D Detection) & 49.85 \% & 39.19 \% & 35.18 \%\\
Pedestrian (Bird's Eye View) & 55.65 \% & 44.37 \% & 40.26 \%\\
Cyclist (Detection) & 77.70 \% & 62.01 \% & 53.29 \%\\
Cyclist (Orientation) & 76.21 \% & 60.39 \% & 51.86 \%\\
Cyclist (3D Detection) & 67.85 \% & 50.58 \% & 43.16 \%\\
Cyclist (Bird's Eye View) & 73.64 \% & 54.82 \% & 46.75 \%
\end{tabular}