\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.83 \% & 89.68 \% & 82.18 \%\\
Car (Orientation) & 94.61 \% & 88.91 \% & 81.18 \%\\
Car (3D Detection) & 27.37 \% & 18.96 \% & 16.28 \%\\
Car (Bird's Eye View) & 35.60 \% & 24.51 \% & 21.37 \%\\
Pedestrian (Detection) & 70.33 \% & 52.15 \% & 47.40 \%\\
Pedestrian (Orientation) & 61.41 \% & 44.72 \% & 40.36 \%\\
Pedestrian (3D Detection) & 16.62 \% & 10.54 \% & 9.03 \%\\
Pedestrian (Bird's Eye View) & 17.99 \% & 11.12 \% & 9.49 \%\\
Cyclist (Detection) & 59.83 \% & 40.91 \% & 35.08 \%\\
Cyclist (Orientation) & 43.04 \% & 29.44 \% & 25.39 \%\\
Cyclist (3D Detection) & 8.08 \% & 4.78 \% & 3.96 \%\\
Cyclist (Bird's Eye View) & 8.76 \% & 5.43 \% & 4.40 \%
\end{tabular}