\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.99 \% & 85.65 \% & 78.58 \%\\
Car (Orientation) & 93.74 \% & 85.06 \% & 77.83 \%\\
Car (3D Detection) & 20.24 \% & 13.72 \% & 12.29 \%\\
Car (Bird's Eye View) & 28.68 \% & 20.09 \% & 18.28 \%\\
Pedestrian (Detection) & 49.49 \% & 36.71 \% & 33.24 \%\\
Pedestrian (Orientation) & 35.75 \% & 25.25 \% & 22.62 \%\\
Pedestrian (3D Detection) & 14.68 \% & 9.18 \% & 7.72 \%\\
Pedestrian (Bird's Eye View) & 15.80 \% & 10.08 \% & 8.64 \%\\
Cyclist (Detection) & 27.90 \% & 20.28 \% & 17.23 \%\\
Cyclist (Orientation) & 19.81 \% & 13.83 \% & 11.81 \%\\
Cyclist (3D Detection) & 4.23 \% & 2.25 \% & 2.04 \%\\
Cyclist (Bird's Eye View) & 5.40 \% & 3.05 \% & 2.60 \%
\end{tabular}