\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.39 \% & 84.13 \% & 74.62 \%\\
Car (Orientation) & 92.34 \% & 83.97 \% & 74.42 \%\\
Car (3D Detection) & 18.77 \% & 12.00 \% & 9.75 \%\\
Car (Bird's Eye View) & 28.91 \% & 19.67 \% & 16.99 \%\\
Pedestrian (Detection) & 60.93 \% & 46.31 \% & 42.05 \%\\
Pedestrian (Orientation) & 56.84 \% & 42.52 \% & 38.43 \%\\
Pedestrian (3D Detection) & 8.75 \% & 5.87 \% & 4.84 \%\\
Pedestrian (Bird's Eye View) & 9.62 \% & 6.82 \% & 5.78 \%\\
Cyclist (Detection) & 68.18 \% & 51.68 \% & 44.08 \%\\
Cyclist (Orientation) & 60.40 \% & 44.74 \% & 38.01 \%\\
Cyclist (3D Detection) & 4.46 \% & 2.74 \% & 2.14 \%\\
Cyclist (Bird's Eye View) & 6.54 \% & 3.31 \% & 3.05 \%
\end{tabular}