\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.56 \% & 81.50 \% & 61.64 \%\\
Car (Orientation) & 91.96 \% & 77.76 \% & 58.69 \%\\
Car (3D Detection) & 56.72 \% & 32.08 \% & 23.74 \%\\
Car (Bird's Eye View) & 67.38 \% & 40.69 \% & 29.98 \%\\
Pedestrian (Detection) & 50.58 \% & 37.02 \% & 32.92 \%\\
Pedestrian (Orientation) & 38.59 \% & 27.81 \% & 24.48 \%\\
Pedestrian (3D Detection) & 21.47 \% & 14.92 \% & 12.96 \%\\
Pedestrian (Bird's Eye View) & 23.82 \% & 16.87 \% & 14.85 \%
\end{tabular}