\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.56 \% & 90.38 \% & 80.58 \%\\
Car (Orientation) & 95.38 \% & 89.76 \% & 79.83 \%\\
Car (3D Detection) & 26.59 \% & 18.70 \% & 15.99 \%\\
Car (Bird's Eye View) & 35.83 \% & 24.59 \% & 21.36 \%\\
Pedestrian (Detection) & 65.74 \% & 49.35 \% & 44.70 \%\\
Pedestrian (Orientation) & 58.35 \% & 43.01 \% & 38.73 \%\\
Pedestrian (3D Detection) & 16.18 \% & 10.45 \% & 8.75 \%\\
Pedestrian (Bird's Eye View) & 17.67 \% & 11.21 \% & 9.35 \%\\
Cyclist (Detection) & 57.61 \% & 38.79 \% & 33.28 \%\\
Cyclist (Orientation) & 42.13 \% & 28.44 \% & 24.66 \%\\
Cyclist (3D Detection) & 5.93 \% & 3.20 \% & 2.94 \%\\
Cyclist (Bird's Eye View) & 7.48 \% & 4.04 \% & 3.43 \%
\end{tabular}