\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.60 \% & 88.15 \% & 79.97 \%\\
Car (Orientation) & 94.32 \% & 87.51 \% & 79.09 \%\\
Car (3D Detection) & 39.40 \% & 23.07 \% & 19.52 \%\\
Car (Bird's Eye View) & 49.96 \% & 30.78 \% & 26.51 \%\\
Pedestrian (Detection) & 48.27 \% & 35.90 \% & 32.44 \%\\
Pedestrian (Orientation) & 34.33 \% & 25.09 \% & 22.42 \%\\
Pedestrian (3D Detection) & 14.66 \% & 9.56 \% & 8.03 \%\\
Pedestrian (Bird's Eye View) & 16.66 \% & 11.11 \% & 9.46 \%\\
Cyclist (Detection) & 47.79 \% & 31.75 \% & 27.83 \%\\
Cyclist (Orientation) & 30.50 \% & 20.06 \% & 17.45 \%\\
Cyclist (3D Detection) & 9.57 \% & 5.67 \% & 4.98 \%\\
Cyclist (Bird's Eye View) & 11.33 \% & 6.57 \% & 5.94 \%
\end{tabular}