\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.30 \% & 78.74 \% & 71.46 \%\\
Car (Orientation) & 91.55 \% & 77.15 \% & 69.62 \%\\
Car (3D Detection) & 64.96 \% & 41.77 \% & 35.00 \%\\
Car (Bird's Eye View) & 78.00 \% & 55.17 \% & 46.51 \%\\
Pedestrian (Detection) & 42.11 \% & 32.05 \% & 28.90 \%\\
Pedestrian (Orientation) & 22.92 \% & 17.32 \% & 15.62 \%\\
Pedestrian (3D Detection) & 20.69 \% & 14.02 \% & 12.24 \%\\
Pedestrian (Bird's Eye View) & 24.35 \% & 17.24 \% & 15.21 \%\\
Cyclist (Detection) & 35.75 \% & 24.17 \% & 21.65 \%\\
Cyclist (Orientation) & 26.04 \% & 16.97 \% & 14.99 \%\\
Cyclist (3D Detection) & 16.43 \% & 9.40 \% & 8.42 \%\\
Cyclist (Bird's Eye View) & 20.23 \% & 11.99 \% & 10.68 \%
\end{tabular}