\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.53 \% & 86.43 \% & 78.75 \%\\
Car (Orientation) & 95.42 \% & 86.03 \% & 78.27 \%\\
Car (3D Detection) & 73.50 \% & 52.18 \% & 45.14 \%\\
Car (Bird's Eye View) & 82.90 \% & 65.05 \% & 56.60 \%\\
Pedestrian (Detection) & 49.28 \% & 39.93 \% & 38.13 \%\\
Pedestrian (Orientation) & 31.21 \% & 24.32 \% & 23.09 \%\\
Pedestrian (3D Detection) & 20.53 \% & 15.55 \% & 14.15 \%\\
Pedestrian (Bird's Eye View) & 26.61 \% & 20.75 \% & 18.86 \%\\
Cyclist (Detection) & 49.10 \% & 35.15 \% & 31.41 \%\\
Cyclist (Orientation) & 29.76 \% & 20.28 \% & 19.13 \%\\
Cyclist (3D Detection) & 27.76 \% & 18.17 \% & 16.21 \%\\
Cyclist (Bird's Eye View) & 31.23 \% & 21.04 \% & 18.93 \%
\end{tabular}