\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.31 \% & 90.38 \% & 82.80 \%\\
Car (Orientation) & 96.28 \% & 89.98 \% & 82.21 \%\\
Car (3D Detection) & 74.39 \% & 53.58 \% & 46.50 \%\\
Car (Bird's Eye View) & 85.29 \% & 66.44 \% & 58.95 \%\\
Pedestrian (Detection) & 54.64 \% & 42.54 \% & 38.45 \%\\
Pedestrian (Orientation) & 48.23 \% & 36.47 \% & 32.77 \%\\
Pedestrian (3D Detection) & 33.22 \% & 24.31 \% & 20.95 \%\\
Pedestrian (Bird's Eye View) & 39.24 \% & 29.56 \% & 25.87 \%\\
Cyclist (Detection) & 69.98 \% & 48.46 \% & 42.41 \%\\
Cyclist (Orientation) & 60.24 \% & 40.64 \% & 35.55 \%\\
Cyclist (3D Detection) & 47.40 \% & 30.89 \% & 27.23 \%\\
Cyclist (Bird's Eye View) & 55.33 \% & 36.25 \% & 32.17 \%
\end{tabular}