\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Car (Orientation) & 0.00 \% & 0.00 \% & 0.00 \%\\
Car (3D Detection) & 10.52 \% & 6.94 \% & 5.18 \%\\
Car (Bird's Eye View) & 17.81 \% & 11.47 \% & 9.08 \%\\
Pedestrian (Detection) & 0.02 \% & 0.02 \% & 0.02 \%\\
Pedestrian (Orientation) & 0.02 \% & 0.02 \% & 0.02 \%\\
Pedestrian (3D Detection) & 1.92 \% & 1.07 \% & 1.03 \%\\
Pedestrian (Bird's Eye View) & 3.68 \% & 2.43 \% & 2.26 \%\\
Cyclist (Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Cyclist (Orientation) & 0.00 \% & 0.00 \% & 0.00 \%\\
Cyclist (3D Detection) & 5.32 \% & 2.85 \% & 2.28 \%\\
Cyclist (Bird's Eye View) & 6.94 \% & 3.38 \% & 3.21 \%
\end{tabular}