\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.97 \% & 83.98 \% & 74.84 \%\\
Car (Orientation) & 95.74 \% & 83.25 \% & 74.07 \%\\
Car (3D Detection) & 74.23 \% & 47.91 \% & 42.93 \%\\
Car (Bird's Eye View) & 81.73 \% & 57.65 \% & 51.21 \%\\
Pedestrian (Detection) & 46.07 \% & 32.59 \% & 29.87 \%\\
Pedestrian (Orientation) & 37.07 \% & 25.87 \% & 23.48 \%\\
Pedestrian (3D Detection) & 28.40 \% & 19.20 \% & 16.98 \%\\
Pedestrian (Bird's Eye View) & 30.80 \% & 21.31 \% & 18.89 \%\\
Cyclist (Detection) & 49.28 \% & 29.69 \% & 26.14 \%\\
Cyclist (Orientation) & 37.46 \% & 21.97 \% & 19.37 \%\\
Cyclist (3D Detection) & 34.82 \% & 20.16 \% & 17.63 \%\\
Cyclist (Bird's Eye View) & 36.57 \% & 21.25 \% & 18.61 \%
\end{tabular}