\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 91.04 \% & 82.54 \% & 72.74 \%\\
Car (Orientation) & 89.93 \% & 80.74 \% & 70.27 \%\\
Car (Bird's Eye View) & 0.00 \% & 0.00 \% & 0.00 \%\\
Pedestrian (Detection) & 59.74 \% & 43.70 \% & 39.06 \%\\
Pedestrian (Orientation) & 46.55 \% & 33.87 \% & 30.12 \%\\
Cyclist (Detection) & 50.96 \% & 35.20 \% & 31.53 \%\\
Cyclist (Orientation) & 40.63 \% & 28.36 \% & 25.21 \%
\end{tabular}