\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.73 \% & 84.80 \% & 78.41 \%\\
Car (Orientation) & 90.42 \% & 84.12 \% & 77.70 \%\\
Car (3D Detection) & 72.37 \% & 61.41 \% & 56.86 \%\\
Car (Bird's Eye View) & 86.35 \% & 77.45 \% & 71.59 \%\\
Pedestrian (Detection) & 30.51 \% & 23.61 \% & 21.97 \%\\
Pedestrian (Orientation) & 17.91 \% & 13.60 \% & 12.47 \%\\
Pedestrian (3D Detection) & 19.56 \% & 15.69 \% & 13.17 \%\\
Pedestrian (Bird's Eye View) & 23.51 \% & 19.12 \% & 16.26 \%\\
Cyclist (Detection) & 42.58 \% & 31.81 \% & 29.09 \%\\
Cyclist (Orientation) & 38.12 \% & 27.45 \% & 25.39 \%\\
Cyclist (3D Detection) & 30.76 \% & 21.53 \% & 21.03 \%\\
Cyclist (Bird's Eye View) & 31.62 \% & 23.77 \% & 21.74 \%
\end{tabular}