\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.61 \% & 86.73 \% & 81.80 \%\\
Car (Orientation) & 92.39 \% & 86.13 \% & 81.11 \%\\
Car (3D Detection) & 76.15 \% & 64.04 \% & 59.79 \%\\
Car (Bird's Eye View) & 87.43 \% & 81.85 \% & 75.36 \%\\
Pedestrian (Detection) & 54.78 \% & 47.50 \% & 45.53 \%\\
Pedestrian (Orientation) & 41.84 \% & 35.01 \% & 33.03 \%\\
Pedestrian (3D Detection) & 41.55 \% & 35.06 \% & 32.93 \%\\
Pedestrian (Bird's Eye View) & 48.90 \% & 42.87 \% & 40.59 \%\\
Cyclist (Detection) & 72.96 \% & 65.40 \% & 60.23 \%\\
Cyclist (Orientation) & 67.52 \% & 59.44 \% & 54.27 \%\\
Cyclist (3D Detection) & 65.67 \% & 53.84 \% & 49.06 \%\\
Cyclist (Bird's Eye View) & 70.84 \% & 59.58 \% & 54.20 \%
\end{tabular}