\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.76 \% & 89.19 \% & 81.60 \%\\
Car (Orientation) & 96.72 \% & 89.07 \% & 81.42 \%\\
Car (3D Detection) & 24.93 \% & 17.14 \% & 15.10 \%\\
Car (Bird's Eye View) & 33.58 \% & 23.46 \% & 20.37 \%\\
Pedestrian (Detection) & 57.80 \% & 43.36 \% & 39.00 \%\\
Pedestrian (Orientation) & 55.28 \% & 41.09 \% & 36.85 \%\\
Pedestrian (3D Detection) & 11.13 \% & 7.32 \% & 6.67 \%\\
Pedestrian (Bird's Eye View) & 12.38 \% & 8.41 \% & 7.16 \%\\
Cyclist (Detection) & 70.85 \% & 51.10 \% & 44.02 \%\\
Cyclist (Orientation) & 63.91 \% & 45.58 \% & 39.29 \%\\
Cyclist (3D Detection) & 5.94 \% & 3.78 \% & 3.33 \%\\
Cyclist (Bird's Eye View) & 6.68 \% & 4.36 \% & 3.76 \%
\end{tabular}