\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.38 \% & 86.62 \% & 76.67 \%\\
Car (Orientation) & 93.93 \% & 85.95 \% & 75.82 \%\\
Car (3D Detection) & 21.82 \% & 14.54 \% & 11.99 \%\\
Car (Bird's Eye View) & 30.03 \% & 20.75 \% & 17.60 \%\\
Pedestrian (Detection) & 74.33 \% & 55.20 \% & 50.26 \%\\
Pedestrian (Orientation) & 68.73 \% & 50.60 \% & 45.83 \%\\
Pedestrian (3D Detection) & 13.60 \% & 8.85 \% & 8.05 \%\\
Pedestrian (Bird's Eye View) & 15.00 \% & 9.99 \% & 8.49 \%\\
Cyclist (Detection) & 67.68 \% & 46.50 \% & 39.47 \%\\
Cyclist (Orientation) & 57.81 \% & 38.76 \% & 32.79 \%\\
Cyclist (3D Detection) & 5.89 \% & 3.54 \% & 3.34 \%\\
Cyclist (Bird's Eye View) & 6.89 \% & 4.42 \% & 3.91 \%
\end{tabular}