\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.74 \% & 83.74 \% & 65.35 \%\\
Car (Orientation) & 89.43 \% & 81.96 \% & 63.74 \%\\
Car (3D Detection) & 17.77 \% & 11.87 \% & 9.16 \%\\
Car (Bird's Eye View) & 25.89 \% & 17.04 \% & 12.88 \%\\
Pedestrian (Detection) & 49.73 \% & 34.96 \% & 30.92 \%\\
Pedestrian (Orientation) & 40.27 \% & 28.16 \% & 24.82 \%\\
Pedestrian (3D Detection) & 4.62 \% & 3.41 \% & 2.87 \%\\
Pedestrian (Bird's Eye View) & 5.24 \% & 3.96 \% & 3.18 \%\\
Cyclist (Detection) & 58.12 \% & 38.36 \% & 31.79 \%\\
Cyclist (Orientation) & 42.58 \% & 27.63 \% & 23.14 \%\\
Cyclist (3D Detection) & 1.59 \% & 1.05 \% & 1.11 \%\\
Cyclist (Bird's Eye View) & 1.76 \% & 1.48 \% & 1.17 \%
\end{tabular}