\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.35 \% & 91.64 \% & 85.18 \%\\
Car (Orientation) & 94.11 \% & 91.21 \% & 84.47 \%\\
Car (3D Detection) & 27.64 \% & 20.05 \% & 17.59 \%\\
Car (Bird's Eye View) & 37.97 \% & 28.57 \% & 25.81 \%\\
Pedestrian (Detection) & 66.02 \% & 52.31 \% & 48.13 \%\\
Pedestrian (Orientation) & 59.34 \% & 45.93 \% & 41.98 \%\\
Pedestrian (3D Detection) & 16.66 \% & 10.49 \% & 8.94 \%\\
Pedestrian (Bird's Eye View) & 17.32 \% & 11.53 \% & 9.87 \%\\
Cyclist (Detection) & 72.61 \% & 55.45 \% & 48.82 \%\\
Cyclist (Orientation) & 66.62 \% & 49.84 \% & 43.79 \%\\
Cyclist (3D Detection) & 9.44 \% & 5.70 \% & 5.29 \%\\
Cyclist (Bird's Eye View) & 10.88 \% & 6.77 \% & 6.12 \%
\end{tabular}