\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.06 \% & 86.30 \% & 71.53 \%\\
Car (Orientation) & 93.79 \% & 85.58 \% & 70.77 \%\\
Car (3D Detection) & 15.73 \% & 11.02 \% & 8.82 \%\\
Car (Bird's Eye View) & 23.01 \% & 15.68 \% & 12.87 \%\\
Pedestrian (Detection) & 71.73 \% & 52.68 \% & 45.61 \%\\
Pedestrian (Orientation) & 63.48 \% & 46.23 \% & 39.81 \%\\
Pedestrian (3D Detection) & 8.34 \% & 5.43 \% & 4.39 \%\\
Pedestrian (Bird's Eye View) & 9.55 \% & 6.43 \% & 5.39 \%\\
Cyclist (Detection) & 69.33 \% & 46.87 \% & 40.57 \%\\
Cyclist (Orientation) & 53.18 \% & 35.88 \% & 30.98 \%\\
Cyclist (3D Detection) & 0.89 \% & 0.72 \% & 0.46 \%\\
Cyclist (Bird's Eye View) & 0.92 \% & 0.72 \% & 0.45 \%
\end{tabular}