\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.61 \% & 84.10 \% & 61.85 \%\\
Car (Orientation) & 93.50 \% & 82.12 \% & 60.34 \%\\
Car (3D Detection) & 59.38 \% & 35.23 \% & 25.24 \%\\
Car (Bird's Eye View) & 70.19 \% & 44.02 \% & 32.78 \%\\
Pedestrian (Detection) & 55.94 \% & 41.17 \% & 34.99 \%\\
Pedestrian (Orientation) & 38.65 \% & 27.64 \% & 23.62 \%\\
Pedestrian (3D Detection) & 23.48 \% & 15.76 \% & 13.73 \%\\
Pedestrian (Bird's Eye View) & 25.47 \% & 17.44 \% & 14.44 \%
\end{tabular}