\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.10 \% & 68.05 \% & 65.61 \%\\
Car (Orientation) & 91.82 \% & 67.65 \% & 65.11 \%\\
Car (3D Detection) & 70.14 \% & 51.85 \% & 50.03 \%\\
Car (Bird's Eye View) & 84.80 \% & 63.33 \% & 61.23 \%\\
Pedestrian (Detection) & 51.38 \% & 41.97 \% & 40.15 \%\\
Pedestrian (Orientation) & 36.76 \% & 29.56 \% & 28.10 \%\\
Pedestrian (3D Detection) & 37.99 \% & 31.46 \% & 29.46 \%\\
Pedestrian (Bird's Eye View) & 45.53 \% & 38.28 \% & 35.37 \%\\
Cyclist (Detection) & 74.97 \% & 54.61 \% & 50.29 \%\\
Cyclist (Orientation) & 69.92 \% & 50.94 \% & 47.01 \%\\
Cyclist (3D Detection) & 67.38 \% & 47.72 \% & 42.89 \%\\
Cyclist (Bird's Eye View) & 72.45 \% & 52.15 \% & 46.57 \%
\end{tabular}