\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.48 \% & 87.91 \% & 78.10 \%\\
Car (Orientation) & 95.44 \% & 87.64 \% & 77.75 \%\\
Car (3D Detection) & 19.65 \% & 12.30 \% & 10.58 \%\\
Car (Bird's Eye View) & 27.94 \% & 17.34 \% & 15.24 \%\\
Pedestrian (Detection) & 73.05 \% & 56.40 \% & 51.40 \%\\
Pedestrian (Orientation) & 63.28 \% & 47.82 \% & 43.23 \%\\
Pedestrian (3D Detection) & 10.88 \% & 6.78 \% & 5.83 \%\\
Pedestrian (Bird's Eye View) & 11.70 \% & 7.59 \% & 6.34 \%\\
Cyclist (Detection) & 67.47 \% & 49.13 \% & 43.41 \%\\
Cyclist (Orientation) & 49.04 \% & 34.36 \% & 30.22 \%\\
Cyclist (3D Detection) & 1.01 \% & 0.61 \% & 0.48 \%\\
Cyclist (Bird's Eye View) & 1.14 \% & 0.73 \% & 0.66 \%
\end{tabular}