\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.15 \% & 85.82 \% & 71.22 \%\\
Car (Orientation) & 93.86 \% & 84.89 \% & 70.37 \%\\
Car (3D Detection) & 25.48 \% & 18.19 \% & 14.27 \%\\
Car (Bird's Eye View) & 34.65 \% & 24.66 \% & 20.77 \%\\
Pedestrian (Detection) & 65.02 \% & 48.51 \% & 41.77 \%\\
Pedestrian (Orientation) & 54.94 \% & 40.52 \% & 34.87 \%\\
Pedestrian (3D Detection) & 8.07 \% & 5.28 \% & 4.29 \%\\
Pedestrian (Bird's Eye View) & 9.22 \% & 6.25 \% & 5.32 \%\\
Cyclist (Detection) & 67.49 \% & 43.40 \% & 38.66 \%\\
Cyclist (Orientation) & 44.95 \% & 29.16 \% & 26.17 \%\\
Cyclist (3D Detection) & 6.58 \% & 3.66 \% & 3.21 \%\\
Cyclist (Bird's Eye View) & 8.88 \% & 5.23 \% & 4.47 \%
\end{tabular}