\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.04 \% & 85.08 \% & 69.26 \%\\
Car (Orientation) & 88.38 \% & 82.81 \% & 67.08 \%\\
Car (3D Detection) & 14.76 \% & 9.71 \% & 7.42 \%\\
Car (Bird's Eye View) & 21.02 \% & 13.67 \% & 10.23 \%\\
Pedestrian (Detection) & 56.64 \% & 41.46 \% & 37.31 \%\\
Pedestrian (Orientation) & 44.33 \% & 31.88 \% & 28.55 \%\\
Pedestrian (3D Detection) & 4.92 \% & 3.48 \% & 2.94 \%\\
Pedestrian (Bird's Eye View) & 5.65 \% & 4.05 \% & 3.29 \%\\
Cyclist (Detection) & 61.54 \% & 41.54 \% & 35.23 \%\\
Cyclist (Orientation) & 48.11 \% & 31.09 \% & 26.10 \%\\
Cyclist (3D Detection) & 0.94 \% & 0.65 \% & 0.47 \%\\
Cyclist (Bird's Eye View) & 1.25 \% & 0.81 \% & 0.78 \%
\end{tabular}