\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.32 \% & 93.51 \% & 85.98 \%\\
Car (Orientation) & 96.22 \% & 93.27 \% & 85.51 \%\\
Car (3D Detection) & 27.06 \% & 18.87 \% & 16.73 \%\\
Car (Bird's Eye View) & 35.33 \% & 25.44 \% & 22.25 \%\\
Pedestrian (Detection) & 83.73 \% & 68.50 \% & 63.35 \%\\
Pedestrian (Orientation) & 75.99 \% & 61.20 \% & 56.16 \%\\
Pedestrian (3D Detection) & 13.73 \% & 8.50 \% & 7.52 \%\\
Pedestrian (Bird's Eye View) & 16.74 \% & 10.65 \% & 8.83 \%\\
Cyclist (Detection) & 75.87 \% & 58.75 \% & 50.33 \%\\
Cyclist (Orientation) & 68.10 \% & 50.82 \% & 43.58 \%\\
Cyclist (3D Detection) & 6.93 \% & 4.12 \% & 3.71 \%\\
Cyclist (Bird's Eye View) & 8.85 \% & 5.39 \% & 4.87 \%
\end{tabular}