\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.39 \% & 93.45 \% & 83.67 \%\\
Car (Orientation) & 95.95 \% & 92.64 \% & 82.72 \%\\
Car (3D Detection) & 59.45 \% & 41.17 \% & 35.13 \%\\
Car (Bird's Eye View) & 72.77 \% & 54.53 \% & 46.41 \%\\
Pedestrian (Detection) & 76.89 \% & 59.62 \% & 54.58 \%\\
Pedestrian (Orientation) & 66.66 \% & 50.70 \% & 46.02 \%\\
Pedestrian (3D Detection) & 33.18 \% & 23.25 \% & 19.86 \%\\
Pedestrian (Bird's Eye View) & 36.97 \% & 25.89 \% & 22.26 \%\\
Cyclist (Detection) & 65.83 \% & 44.76 \% & 39.97 \%\\
Cyclist (Orientation) & 51.45 \% & 34.96 \% & 31.17 \%\\
Cyclist (3D Detection) & 39.09 \% & 24.29 \% & 20.77 \%\\
Cyclist (Bird's Eye View) & 42.19 \% & 26.78 \% & 22.74 \%
\end{tabular}