\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) & 30.83 \% & 22.08 \% & 19.20 \%\\
Car (Bird's Eye View) & 39.50 \% & 28.71 \% & 25.20 \%\\
Pedestrian (Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Pedestrian (Orientation) & 0.00 \% & 0.00 \% & 0.00 \%\\
Pedestrian (3D Detection) & 5.60 \% & 3.64 \% & 3.10 \%\\
Pedestrian (Bird's Eye View) & 5.94 \% & 4.05 \% & 3.55 \%\\
Cyclist (Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Cyclist (Orientation) & 0.00 \% & 0.00 \% & 0.00 \%\\
Cyclist (3D Detection) & 2.79 \% & 1.37 \% & 1.32 \%\\
Cyclist (Bird's Eye View) & 2.88 \% & 1.44 \% & 1.37 \%
\end{tabular}