\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.43 \% & 93.82 \% & 86.19 \%\\
Car (Orientation) & 96.40 \% & 93.71 \% & 86.00 \%\\
Car (3D Detection) & 81.39 \% & 64.66 \% & 57.22 \%\\
Car (Bird's Eye View) & 88.15 \% & 76.78 \% & 67.40 \%\\
Pedestrian (Detection) & 65.59 \% & 52.18 \% & 49.29 \%\\
Pedestrian (Orientation) & 53.16 \% & 40.98 \% & 38.12 \%\\
Pedestrian (3D Detection) & 40.46 \% & 30.00 \% & 27.07 \%\\
Pedestrian (Bird's Eye View) & 44.71 \% & 34.13 \% & 30.42 \%\\
Cyclist (Detection) & 74.40 \% & 54.57 \% & 48.11 \%\\
Cyclist (Orientation) & 63.89 \% & 45.13 \% & 39.23 \%\\
Cyclist (3D Detection) & 54.44 \% & 36.86 \% & 32.06 \%\\
Cyclist (Bird's Eye View) & 58.95 \% & 40.60 \% & 35.27 \%
\end{tabular}