\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.83 \% & 90.81 \% & 80.93 \%\\
Car (Orientation) & 93.46 \% & 90.23 \% & 80.11 \%\\
Car (3D Detection) & 17.23 \% & 12.26 \% & 10.29 \%\\
Car (Bird's Eye View) & 24.79 \% & 18.89 \% & 16.00 \%\\
Pedestrian (Detection) & 78.66 \% & 61.29 \% & 56.18 \%\\
Pedestrian (Orientation) & 69.94 \% & 53.78 \% & 48.98 \%\\
Pedestrian (3D Detection) & 9.64 \% & 6.55 \% & 5.44 \%\\
Pedestrian (Bird's Eye View) & 10.73 \% & 6.96 \% & 6.20 \%\\
Cyclist (Detection) & 70.78 \% & 53.29 \% & 45.01 \%\\
Cyclist (Orientation) & 61.84 \% & 45.12 \% & 37.95 \%\\
Cyclist (3D Detection) & 4.59 \% & 2.66 \% & 2.45 \%\\
Cyclist (Bird's Eye View) & 5.34 \% & 3.28 \% & 2.83 \%
\end{tabular}