\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.78 \% & 78.01 \% & 70.97 \%\\
Car (Orientation) & 90.04 \% & 75.93 \% & 68.66 \%\\
Car (3D Detection) & 57.02 \% & 35.49 \% & 31.03 \%\\
Car (Bird's Eye View) & 71.08 \% & 47.07 \% & 41.90 \%\\
Pedestrian (Detection) & 38.41 \% & 26.78 \% & 24.58 \%\\
Pedestrian (Orientation) & 20.31 \% & 13.91 \% & 12.77 \%\\
Pedestrian (3D Detection) & 15.39 \% & 10.21 \% & 8.85 \%\\
Pedestrian (Bird's Eye View) & 19.18 \% & 12.66 \% & 11.07 \%\\
Cyclist (Detection) & 41.39 \% & 25.96 \% & 22.78 \%\\
Cyclist (Orientation) & 27.08 \% & 16.72 \% & 14.53 \%\\
Cyclist (3D Detection) & 22.45 \% & 12.77 \% & 11.59 \%\\
Cyclist (Bird's Eye View) & 26.40 \% & 15.20 \% & 13.47 \%
\end{tabular}