\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.04 \% & 80.58 \% & 69.67 \%\\
Car (Orientation) & 91.51 \% & 79.46 \% & 68.48 \%\\
Car (3D Detection) & 19.05 \% & 11.76 \% & 9.39 \%\\
Car (Bird's Eye View) & 26.89 \% & 16.51 \% & 13.49 \%\\
Pedestrian (Detection) & 48.30 \% & 33.67 \% & 29.76 \%\\
Pedestrian (Orientation) & 40.20 \% & 27.61 \% & 24.29 \%\\
Pedestrian (3D Detection) & 2.28 \% & 1.49 \% & 1.38 \%\\
Pedestrian (Bird's Eye View) & 2.82 \% & 1.88 \% & 1.54 \%\\
Cyclist (Detection) & 44.28 \% & 26.48 \% & 23.03 \%\\
Cyclist (Orientation) & 31.75 \% & 19.10 \% & 16.59 \%\\
Cyclist (3D Detection) & 2.81 \% & 1.38 \% & 1.20 \%\\
Cyclist (Bird's Eye View) & 3.54 \% & 1.79 \% & 1.56 \%
\end{tabular}