\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 56.53 \% & 45.81 \% & 37.63 \%\\
Car (Orientation) & 25.58 \% & 21.41 \% & 17.52 \%\\
Car (3D Detection) & 29.90 \% & 23.28 \% & 18.96 \%\\
Car (Bird's Eye View) & 58.81 \% & 46.82 \% & 38.38 \%\\
Pedestrian (Detection) & 41.12 \% & 29.30 \% & 25.25 \%\\
Pedestrian (Orientation) & 21.41 \% & 15.34 \% & 13.23 \%\\
Pedestrian (3D Detection) & 3.28 \% & 2.45 \% & 2.35 \%\\
Pedestrian (Bird's Eye View) & 4.72 \% & 3.65 \% & 3.00 \%\\
Cyclist (Detection) & 19.58 \% & 12.96 \% & 11.47 \%\\
Cyclist (Orientation) & 5.46 \% & 3.88 \% & 3.54 \%\\
Cyclist (3D Detection) & 5.29 \% & 3.37 \% & 2.57 \%\\
Cyclist (Bird's Eye View) & 7.03 \% & 4.10 \% & 3.88 \%
\end{tabular}