\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.91 \% & 92.38 \% & 85.04 \%\\
Car (Orientation) & 95.79 \% & 92.03 \% & 84.36 \%\\
Car (3D Detection) & 28.83 \% & 19.57 \% & 17.38 \%\\
Car (Bird's Eye View) & 38.46 \% & 26.73 \% & 23.46 \%\\
Pedestrian (Detection) & 77.85 \% & 60.94 \% & 54.32 \%\\
Pedestrian (Orientation) & 68.48 \% & 52.58 \% & 46.59 \%\\
Pedestrian (3D Detection) & 14.80 \% & 10.15 \% & 8.53 \%\\
Pedestrian (Bird's Eye View) & 16.10 \% & 10.90 \% & 9.32 \%\\
Cyclist (Detection) & 64.08 \% & 46.25 \% & 39.82 \%\\
Cyclist (Orientation) & 50.69 \% & 35.83 \% & 30.88 \%\\
Cyclist (3D Detection) & 9.04 \% & 5.31 \% & 4.24 \%\\
Cyclist (Bird's Eye View) & 9.75 \% & 5.56 \% & 4.37 \%
\end{tabular}