\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Car (Orientation) & 0.00 \% & 0.00 \% & 0.00 \%\\
Car (3D Detection) & 34.72 \% & 26.80 \% & 23.05 \%\\
Car (Bird's Eye View) & 44.27 \% & 34.88 \% & 30.29 \%\\
Pedestrian (Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Pedestrian (Orientation) & 0.00 \% & 0.00 \% & 0.00 \%\\
Pedestrian (3D Detection) & 9.38 \% & 6.32 \% & 5.54 \%\\
Pedestrian (Bird's Eye View) & 10.32 \% & 7.06 \% & 6.10 \%\\
Cyclist (Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Cyclist (Orientation) & 0.00 \% & 0.00 \% & 0.00 \%\\
Cyclist (3D Detection) & 8.58 \% & 5.11 \% & 4.48 \%\\
Cyclist (Bird's Eye View) & 9.73 \% & 5.82 \% & 4.88 \%
\end{tabular}