\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.44 \% & 93.42 \% & 85.80 \%\\
Car (Orientation) & 95.96 \% & 92.76 \% & 84.92 \%\\
Car (3D Detection) & 60.79 \% & 43.00 \% & 36.84 \%\\
Car (Bird's Eye View) & 74.04 \% & 54.71 \% & 46.58 \%\\
Pedestrian (Detection) & 77.65 \% & 60.60 \% & 55.71 \%\\
Pedestrian (Orientation) & 67.40 \% & 51.55 \% & 47.02 \%\\
Pedestrian (3D Detection) & 34.37 \% & 23.74 \% & 21.11 \%\\
Pedestrian (Bird's Eye View) & 38.08 \% & 27.57 \% & 24.01 \%\\
Cyclist (Detection) & 70.21 \% & 50.41 \% & 44.22 \%\\
Cyclist (Orientation) & 59.59 \% & 41.65 \% & 36.45 \%\\
Cyclist (3D Detection) & 38.43 \% & 24.84 \% & 21.56 \%\\
Cyclist (Bird's Eye View) & 43.96 \% & 28.11 \% & 24.54 \%
\end{tabular}