\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.06 \% & 90.52 \% & 82.86 \%\\
Car (Orientation) & 95.13 \% & 89.06 \% & 81.17 \%\\
Car (3D Detection) & 18.63 \% & 13.53 \% & 11.13 \%\\
Car (Bird's Eye View) & 28.51 \% & 20.05 \% & 17.11 \%\\
Pedestrian (Detection) & 73.33 \% & 56.00 \% & 49.64 \%\\
Pedestrian (Orientation) & 63.75 \% & 47.56 \% & 41.99 \%\\
Pedestrian (3D Detection) & 11.83 \% & 7.61 \% & 6.29 \%\\
Pedestrian (Bird's Eye View) & 12.62 \% & 8.46 \% & 7.24 \%\\
Cyclist (Detection) & 66.56 \% & 43.36 \% & 37.18 \%\\
Cyclist (Orientation) & 55.88 \% & 36.00 \% & 30.77 \%\\
Cyclist (3D Detection) & 4.70 \% & 2.67 \% & 2.36 \%\\
Cyclist (Bird's Eye View) & 5.62 \% & 3.31 \% & 2.71 \%
\end{tabular}