\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.40 \% & 88.40 \% & 80.21 \%\\
Car (Orientation) & 87.84 \% & 81.31 \% & 71.95 \%\\
Car (3D Detection) & 83.13 \% & 73.66 \% & 66.20 \%\\
Car (Bird's Eye View) & 88.07 \% & 79.37 \% & 77.95 \%\\
Pedestrian (Detection) & 65.73 \% & 55.74 \% & 49.08 \%\\
Pedestrian (Orientation) & 51.56 \% & 43.51 \% & 38.78 \%\\
Pedestrian (3D Detection) & 51.07 \% & 42.56 \% & 37.29 \%\\
Pedestrian (Bird's Eye View) & 55.10 \% & 46.27 \% & 44.76 \%\\
Cyclist (Detection) & 81.96 \% & 58.94 \% & 57.20 \%\\
Cyclist (Orientation) & 80.97 \% & 57.20 \% & 55.14 \%\\
Cyclist (3D Detection) & 70.51 \% & 53.85 \% & 46.90 \%\\
Cyclist (Bird's Eye View) & 73.67 \% & 56.04 \% & 48.78 \%
\end{tabular}