\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 79.30 \% & 57.12 \% & 55.16 \%\\
Car (Orientation) & 79.20 \% & 56.94 \% & 54.88 \%\\
Car (3D Detection) & 40.99 \% & 27.26 \% & 25.32 \%\\
Car (Bird's Eye View) & 84.17 \% & 59.83 \% & 57.35 \%\\
Pedestrian (Detection) & 36.82 \% & 30.07 \% & 28.40 \%\\
Pedestrian (Orientation) & 27.12 \% & 21.83 \% & 20.56 \%\\
Pedestrian (3D Detection) & 22.04 \% & 17.08 \% & 15.82 \%\\
Pedestrian (Bird's Eye View) & 28.20 \% & 23.06 \% & 21.65 \%\\
Cyclist (Detection) & 64.91 \% & 47.64 \% & 44.59 \%\\
Cyclist (Orientation) & 62.69 \% & 45.03 \% & 41.88 \%\\
Cyclist (3D Detection) & 43.98 \% & 30.25 \% & 27.21 \%\\
Cyclist (Bird's Eye View) & 58.64 \% & 41.56 \% & 36.94 \%
\end{tabular}