\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.78 \% & 80.76 \% & 75.36 \%\\
Car (Orientation) & 93.57 \% & 80.12 \% & 74.40 \%\\
Car (3D Detection) & 30.26 \% & 21.87 \% & 18.87 \%\\
Car (Bird's Eye View) & 46.87 \% & 36.89 \% & 33.39 \%\\
Pedestrian (Detection) & 59.66 \% & 44.54 \% & 40.12 \%\\
Pedestrian (Orientation) & 35.60 \% & 25.80 \% & 23.11 \%\\
Pedestrian (3D Detection) & 9.10 \% & 5.82 \% & 4.96 \%\\
Pedestrian (Bird's Eye View) & 11.05 \% & 7.22 \% & 6.11 \%\\
Cyclist (Detection) & 56.76 \% & 39.61 \% & 34.50 \%\\
Cyclist (Orientation) & 35.75 \% & 24.38 \% & 21.06 \%\\
Cyclist (3D Detection) & 8.01 \% & 4.44 \% & 3.68 \%\\
Cyclist (Bird's Eye View) & 9.08 \% & 5.01 \% & 4.21 \%
\end{tabular}