\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.50 \% & 88.77 \% & 76.55 \%\\
Car (Orientation) & 96.41 \% & 88.44 \% & 76.17 \%\\
Car (3D Detection) & 24.60 \% & 17.05 \% & 14.25 \%\\
Car (Bird's Eye View) & 33.54 \% & 22.53 \% & 19.22 \%\\
Pedestrian (Detection) & 73.93 \% & 54.92 \% & 47.87 \%\\
Pedestrian (Orientation) & 68.35 \% & 50.42 \% & 43.91 \%\\
Pedestrian (3D Detection) & 15.65 \% & 10.49 \% & 8.80 \%\\
Pedestrian (Bird's Eye View) & 17.14 \% & 11.01 \% & 9.94 \%\\
Cyclist (Detection) & 55.98 \% & 38.35 \% & 33.83 \%\\
Cyclist (Orientation) & 45.97 \% & 31.64 \% & 27.92 \%\\
Cyclist (3D Detection) & 5.16 \% & 3.45 \% & 2.86 \%\\
Cyclist (Bird's Eye View) & 6.01 \% & 3.75 \% & 3.56 \%
\end{tabular}