\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.90 \% & 90.65 \% & 80.85 \%\\
Car (Orientation) & 95.76 \% & 90.11 \% & 80.06 \%\\
Car (3D Detection) & 26.09 \% & 17.65 \% & 15.54 \%\\
Car (Bird's Eye View) & 35.08 \% & 24.23 \% & 20.99 \%\\
Pedestrian (Detection) & 69.18 \% & 52.46 \% & 47.61 \%\\
Pedestrian (Orientation) & 60.73 \% & 44.96 \% & 40.46 \%\\
Pedestrian (3D Detection) & 16.26 \% & 10.58 \% & 8.96 \%\\
Pedestrian (Bird's Eye View) & 16.97 \% & 11.09 \% & 9.35 \%\\
Cyclist (Detection) & 63.94 \% & 43.12 \% & 36.92 \%\\
Cyclist (Orientation) & 50.91 \% & 33.90 \% & 28.96 \%\\
Cyclist (3D Detection) & 8.03 \% & 4.79 \% & 4.13 \%\\
Cyclist (Bird's Eye View) & 8.89 \% & 5.43 \% & 4.52 \%
\end{tabular}