\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 88.90 \% & 71.56 \% & 61.60 \%\\
Car (Orientation) & 88.88 \% & 71.49 \% & 61.49 \%\\
Car (3D Detection) & 74.30 \% & 56.92 \% & 48.14 \%\\
Car (Bird's Eye View) & 83.44 \% & 67.18 \% & 57.68 \%\\
Pedestrian (Detection) & 40.65 \% & 30.04 \% & 27.65 \%\\
Pedestrian (Orientation) & 39.33 \% & 28.86 \% & 26.47 \%\\
Pedestrian (3D Detection) & 31.13 \% & 23.33 \% & 20.07 \%\\
Pedestrian (Bird's Eye View) & 33.98 \% & 25.79 \% & 22.50 \%\\
Cyclist (Detection) & 12.43 \% & 10.20 \% & 9.34 \%\\
Cyclist (Orientation) & 12.39 \% & 10.17 \% & 9.31 \%\\
Cyclist (3D Detection) & 9.99 \% & 8.31 \% & 6.87 \%\\
Cyclist (Bird's Eye View) & 10.65 \% & 8.90 \% & 7.68 \%
\end{tabular}