\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.37 \% & 95.65 \% & 90.69 \%\\
Car (Orientation) & 96.32 \% & 95.52 \% & 90.47 \%\\
Car (3D Detection) & 33.42 \% & 23.73 \% & 20.76 \%\\
Car (Bird's Eye View) & 42.61 \% & 30.61 \% & 27.38 \%\\
Pedestrian (Detection) & 86.04 \% & 72.77 \% & 67.88 \%\\
Pedestrian (Orientation) & 83.81 \% & 69.90 \% & 64.90 \%\\
Pedestrian (3D Detection) & 10.94 \% & 7.67 \% & 7.06 \%\\
Pedestrian (Bird's Eye View) & 12.56 \% & 8.98 \% & 7.85 \%\\
Cyclist (Detection) & 84.42 \% & 66.64 \% & 59.86 \%\\
Cyclist (Orientation) & 82.06 \% & 63.55 \% & 56.81 \%\\
Cyclist (3D Detection) & 11.08 \% & 7.04 \% & 6.46 \%\\
Cyclist (Bird's Eye View) & 13.16 \% & 8.61 \% & 7.97 \%
\end{tabular}