\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.45 \% & 82.64 \% & 70.45 \%\\
Car (Orientation) & 93.31 \% & 82.09 \% & 69.78 \%\\
Car (3D Detection) & 68.21 \% & 45.78 \% & 37.73 \%\\
Car (Bird's Eye View) & 79.76 \% & 58.62 \% & 47.73 \%\\
Pedestrian (Detection) & 71.63 \% & 52.90 \% & 48.15 \%\\
Pedestrian (Orientation) & 63.16 \% & 45.66 \% & 41.14 \%\\
Pedestrian (3D Detection) & 37.12 \% & 25.80 \% & 22.04 \%\\
Pedestrian (Bird's Eye View) & 40.21 \% & 28.34 \% & 24.46 \%\\
Cyclist (Detection) & 63.22 \% & 46.37 \% & 40.15 \%\\
Cyclist (Orientation) & 52.35 \% & 35.93 \% & 31.09 \%\\
Cyclist (3D Detection) & 40.05 \% & 24.40 \% & 21.12 \%\\
Cyclist (Bird's Eye View) & 44.19 \% & 27.04 \% & 23.58 \%
\end{tabular}