\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.79 \% & 90.20 \% & 85.23 \%\\
Car (Orientation) & 80.49 \% & 76.22 \% & 71.64 \%\\
Car (3D Detection) & 78.39 \% & 70.85 \% & 64.81 \%\\
Car (Bird's Eye View) & 89.59 \% & 84.82 \% & 78.20 \%\\
Pedestrian (Detection) & 46.01 \% & 37.12 \% & 34.56 \%\\
Pedestrian (Orientation) & 44.76 \% & 35.75 \% & 33.14 \%\\
Pedestrian (3D Detection) & 34.09 \% & 27.87 \% & 25.62 \%\\
Pedestrian (Bird's Eye View) & 37.54 \% & 31.23 \% & 28.97 \%
\end{tabular}