\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 91.15 \% & 81.70 \% & 63.12 \%\\
Car (Orientation) & 90.73 \% & 80.20 \% & 61.82 \%\\
Car (3D Detection) & 19.71 \% & 12.78 \% & 9.80 \%\\
Car (Bird's Eye View) & 28.08 \% & 17.89 \% & 13.44 \%\\
Pedestrian (Detection) & 56.73 \% & 41.54 \% & 35.52 \%\\
Pedestrian (Orientation) & 46.12 \% & 33.35 \% & 28.45 \%\\
Pedestrian (3D Detection) & 4.93 \% & 3.55 \% & 3.01 \%\\
Pedestrian (Bird's Eye View) & 5.53 \% & 4.02 \% & 3.36 \%\\
Cyclist (Detection) & 58.70 \% & 38.62 \% & 34.10 \%\\
Cyclist (Orientation) & 46.42 \% & 29.53 \% & 25.91 \%\\
Cyclist (3D Detection) & 4.18 \% & 2.50 \% & 2.32 \%\\
Cyclist (Bird's Eye View) & 4.92 \% & 3.14 \% & 2.44 \%
\end{tabular}