\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 87.39 \% & 74.60 \% & 62.56 \%\\
Car (Orientation) & 86.86 \% & 73.34 \% & 61.37 \%\\
Car (3D Detection) & 55.15 \% & 37.60 \% & 30.25 \%\\
Car (Bird's Eye View) & 68.89 \% & 51.47 \% & 42.97 \%\\
Pedestrian (Detection) & 43.50 \% & 30.79 \% & 28.40 \%\\
Pedestrian (Orientation) & 31.36 \% & 22.02 \% & 20.20 \%\\
Pedestrian (3D Detection) & 24.48 \% & 17.58 \% & 15.60 \%\\
Pedestrian (Bird's Eye View) & 29.79 \% & 20.80 \% & 18.62 \%\\
Cyclist (Detection) & 43.18 \% & 28.76 \% & 24.80 \%\\
Cyclist (Orientation) & 29.07 \% & 18.99 \% & 16.40 \%\\
Cyclist (3D Detection) & 29.40 \% & 16.63 \% & 14.72 \%\\
Cyclist (Bird's Eye View) & 32.47 \% & 19.23 \% & 17.11 \%
\end{tabular}