\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.20 \% & 91.26 \% & 83.53 \%\\
Car (Orientation) & 94.03 \% & 90.81 \% & 82.87 \%\\
Car (3D Detection) & 62.40 \% & 43.96 \% & 36.14 \%\\
Car (Bird's Eye View) & 73.59 \% & 53.59 \% & 45.01 \%\\
Pedestrian (Detection) & 76.24 \% & 59.22 \% & 54.47 \%\\
Pedestrian (Orientation) & 66.51 \% & 50.74 \% & 46.22 \%\\
Pedestrian (3D Detection) & 32.14 \% & 21.92 \% & 19.43 \%\\
Pedestrian (Bird's Eye View) & 35.80 \% & 24.72 \% & 22.06 \%\\
Cyclist (Detection) & 67.08 \% & 46.01 \% & 41.08 \%\\
Cyclist (Orientation) & 51.22 \% & 34.60 \% & 31.16 \%\\
Cyclist (3D Detection) & 34.59 \% & 21.80 \% & 18.59 \%\\
Cyclist (Bird's Eye View) & 37.95 \% & 24.36 \% & 20.87 \%
\end{tabular}