\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.48 \% & 93.63 \% & 86.04 \%\\
Car (Orientation) & 96.29 \% & 93.21 \% & 85.36 \%\\
Car (3D Detection) & 27.07 \% & 19.59 \% & 17.36 \%\\
Car (Bird's Eye View) & 35.43 \% & 26.11 \% & 22.83 \%\\
Pedestrian (Detection) & 83.33 \% & 66.40 \% & 61.27 \%\\
Pedestrian (Orientation) & 75.86 \% & 59.36 \% & 54.24 \%\\
Pedestrian (3D Detection) & 15.83 \% & 10.74 \% & 9.38 \%\\
Pedestrian (Bird's Eye View) & 17.30 \% & 11.91 \% & 10.09 \%\\
Cyclist (Detection) & 72.26 \% & 53.75 \% & 45.81 \%\\
Cyclist (Orientation) & 62.82 \% & 45.64 \% & 38.87 \%\\
Cyclist (3D Detection) & 7.40 \% & 4.10 \% & 4.21 \%\\
Cyclist (Bird's Eye View) & 8.69 \% & 4.99 \% & 4.75 \%
\end{tabular}