\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.64 \% & 82.86 \% & 68.33 \%\\
Car (Orientation) & 93.49 \% & 81.96 \% & 67.35 \%\\
Car (3D Detection) & 67.02 \% & 43.27 \% & 36.43 \%\\
Car (Bird's Eye View) & 79.61 \% & 57.98 \% & 47.09 \%\\
Pedestrian (Detection) & 71.79 \% & 52.98 \% & 48.20 \%\\
Pedestrian (Orientation) & 63.23 \% & 45.80 \% & 41.32 \%\\
Pedestrian (3D Detection) & 35.75 \% & 25.40 \% & 21.79 \%\\
Pedestrian (Bird's Eye View) & 42.72 \% & 29.12 \% & 25.09 \%\\
Cyclist (Detection) & 63.24 \% & 46.37 \% & 40.15 \%\\
Cyclist (Orientation) & 52.37 \% & 35.92 \% & 31.08 \%\\
Cyclist (3D Detection) & 40.04 \% & 24.40 \% & 21.12 \%\\
Cyclist (Bird's Eye View) & 44.19 \% & 27.04 \% & 23.58 \%
\end{tabular}