\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.59 \% & 88.22 \% & 76.18 \%\\
Car (Orientation) & 93.52 \% & 87.92 \% & 75.83 \%\\
Car (3D Detection) & 22.50 \% & 16.46 \% & 13.95 \%\\
Car (Bird's Eye View) & 31.12 \% & 22.10 \% & 19.00 \%\\
Pedestrian (Detection) & 56.57 \% & 42.44 \% & 36.34 \%\\
Pedestrian (Orientation) & 52.16 \% & 38.67 \% & 33.15 \%\\
Pedestrian (3D Detection) & 13.10 \% & 8.41 \% & 6.94 \%\\
Pedestrian (Bird's Eye View) & 13.55 \% & 8.73 \% & 7.83 \%\\
Cyclist (Detection) & 59.39 \% & 42.49 \% & 35.94 \%\\
Cyclist (Orientation) & 53.26 \% & 37.33 \% & 31.67 \%\\
Cyclist (3D Detection) & 2.80 \% & 1.92 \% & 1.55 \%\\
Cyclist (Bird's Eye View) & 3.87 \% & 2.68 \% & 2.24 \%
\end{tabular}