\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.21 \% & 93.29 \% & 83.59 \%\\
Car (Orientation) & 96.17 \% & 93.14 \% & 83.36 \%\\
Car (3D Detection) & 27.71 \% & 19.04 \% & 16.03 \%\\
Car (Bird's Eye View) & 34.85 \% & 24.23 \% & 20.87 \%\\
Pedestrian (Detection) & 67.31 \% & 53.72 \% & 47.54 \%\\
Pedestrian (Orientation) & 63.94 \% & 50.22 \% & 44.33 \%\\
Pedestrian (3D Detection) & 14.41 \% & 9.42 \% & 7.96 \%\\
Pedestrian (Bird's Eye View) & 15.20 \% & 9.98 \% & 8.90 \%\\
Cyclist (Detection) & 76.21 \% & 59.86 \% & 51.17 \%\\
Cyclist (Orientation) & 70.86 \% & 54.40 \% & 46.33 \%\\
Cyclist (3D Detection) & 6.23 \% & 3.92 \% & 3.27 \%\\
Cyclist (Bird's Eye View) & 7.40 \% & 4.97 \% & 4.09 \%
\end{tabular}