\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 82.54 \% & 75.43 \% & 66.82 \%\\
Car (Orientation) & 82.46 \% & 75.18 \% & 66.51 \%\\
Car (3D Detection) & 11.29 \% & 7.88 \% & 6.48 \%\\
Car (Bird's Eye View) & 17.31 \% & 12.06 \% & 10.05 \%\\
Pedestrian (Detection) & 64.64 \% & 51.57 \% & 46.98 \%\\
Pedestrian (Orientation) & 57.28 \% & 44.76 \% & 40.56 \%\\
Pedestrian (3D Detection) & 1.73 \% & 1.09 \% & 1.04 \%\\
Pedestrian (Bird's Eye View) & 1.87 \% & 1.16 \% & 1.13 \%\\
Cyclist (Detection) & 58.71 \% & 41.01 \% & 35.35 \%\\
Cyclist (Orientation) & 48.36 \% & 32.87 \% & 28.52 \%\\
Cyclist (3D Detection) & 7.72 \% & 4.22 \% & 3.36 \%\\
Cyclist (Bird's Eye View) & 8.67 \% & 4.79 \% & 3.90 \%
\end{tabular}