\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.02 \% & 93.42 \% & 83.66 \%\\
Car (Orientation) & 93.91 \% & 93.05 \% & 83.11 \%\\
Car (3D Detection) & 26.78 \% & 19.32 \% & 16.62 \%\\
Car (Bird's Eye View) & 36.17 \% & 26.42 \% & 23.15 \%\\
Pedestrian (Detection) & 81.12 \% & 65.99 \% & 59.01 \%\\
Pedestrian (Orientation) & 72.64 \% & 57.97 \% & 51.45 \%\\
Pedestrian (3D Detection) & 17.04 \% & 10.75 \% & 9.10 \%\\
Pedestrian (Bird's Eye View) & 17.89 \% & 11.96 \% & 10.14 \%\\
Cyclist (Detection) & 72.35 \% & 55.45 \% & 47.45 \%\\
Cyclist (Orientation) & 60.03 \% & 44.96 \% & 38.83 \%\\
Cyclist (3D Detection) & 6.98 \% & 4.62 \% & 4.27 \%\\
Cyclist (Bird's Eye View) & 8.07 \% & 5.16 \% & 4.93 \%
\end{tabular}