\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.52 \% & 88.38 \% & 81.01 \%\\
Car (Orientation) & 96.48 \% & 88.13 \% & 80.66 \%\\
Car (3D Detection) & 76.87 \% & 57.11 \% & 50.05 \%\\
Car (Bird's Eye View) & 86.89 \% & 68.87 \% & 59.95 \%\\
Pedestrian (Detection) & 58.97 \% & 46.14 \% & 42.48 \%\\
Pedestrian (Orientation) & 36.80 \% & 27.76 \% & 25.23 \%\\
Pedestrian (3D Detection) & 35.02 \% & 25.13 \% & 22.36 \%\\
Pedestrian (Bird's Eye View) & 40.58 \% & 29.50 \% & 26.01 \%\\
Cyclist (Detection) & 68.25 \% & 50.22 \% & 44.84 \%\\
Cyclist (Orientation) & 49.21 \% & 34.31 \% & 31.16 \%\\
Cyclist (3D Detection) & 46.37 \% & 31.31 \% & 27.66 \%\\
Cyclist (Bird's Eye View) & 53.72 \% & 36.64 \% & 32.22 \%
\end{tabular}