\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.92 \% & 90.69 \% & 80.91 \%\\
Car (Orientation) & 95.86 \% & 90.49 \% & 80.66 \%\\
Car (3D Detection) & 21.75 \% & 14.94 \% & 13.07 \%\\
Car (Bird's Eye View) & 29.60 \% & 20.68 \% & 17.81 \%\\
Pedestrian (Detection) & 63.77 \% & 48.97 \% & 44.60 \%\\
Pedestrian (Orientation) & 59.94 \% & 45.44 \% & 41.15 \%\\
Pedestrian (3D Detection) & 11.87 \% & 7.66 \% & 6.82 \%\\
Pedestrian (Bird's Eye View) & 13.26 \% & 8.81 \% & 7.41 \%\\
Cyclist (Detection) & 70.14 \% & 54.12 \% & 46.16 \%\\
Cyclist (Orientation) & 62.89 \% & 47.36 \% & 40.55 \%\\
Cyclist (3D Detection) & 5.48 \% & 3.50 \% & 2.99 \%\\
Cyclist (Bird's Eye View) & 6.81 \% & 4.09 \% & 3.78 \%
\end{tabular}