\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.13 \% & 82.64 \% & 75.14 \%\\
Car (Orientation) & 92.90 \% & 82.21 \% & 74.66 \%\\
Car (3D Detection) & 21.71 \% & 15.17 \% & 13.06 \%\\
Car (Bird's Eye View) & 29.87 \% & 20.91 \% & 18.22 \%\\
Pedestrian (Detection) & 44.66 \% & 31.99 \% & 28.21 \%\\
Pedestrian (Orientation) & 32.76 \% & 23.04 \% & 20.21 \%\\
Pedestrian (3D Detection) & 13.47 \% & 8.33 \% & 6.99 \%\\
Pedestrian (Bird's Eye View) & 15.26 \% & 9.66 \% & 8.17 \%\\
Cyclist (Detection) & 35.65 \% & 24.75 \% & 22.00 \%\\
Cyclist (Orientation) & 18.96 \% & 12.27 \% & 11.19 \%\\
Cyclist (3D Detection) & 2.45 \% & 1.24 \% & 1.22 \%\\
Cyclist (Bird's Eye View) & 3.15 \% & 1.64 \% & 1.76 \%
\end{tabular}