\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.23 \% & 93.29 \% & 85.74 \%\\
Car (Orientation) & 96.00 \% & 92.84 \% & 85.07 \%\\
Car (3D Detection) & 27.54 \% & 19.11 \% & 16.33 \%\\
Car (Bird's Eye View) & 36.77 \% & 25.75 \% & 22.62 \%\\
Pedestrian (Detection) & 75.95 \% & 58.96 \% & 52.60 \%\\
Pedestrian (Orientation) & 69.91 \% & 52.82 \% & 46.94 \%\\
Pedestrian (3D Detection) & 15.61 \% & 10.33 \% & 8.53 \%\\
Pedestrian (Bird's Eye View) & 16.99 \% & 11.40 \% & 9.63 \%\\
Cyclist (Detection) & 70.87 \% & 49.15 \% & 42.66 \%\\
Cyclist (Orientation) & 61.89 \% & 42.68 \% & 37.02 \%\\
Cyclist (3D Detection) & 8.89 \% & 5.08 \% & 4.53 \%\\
Cyclist (Bird's Eye View) & 10.61 \% & 6.27 \% & 5.25 \%
\end{tabular}