\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.35 \% & 91.02 \% & 83.41 \%\\
Car (Orientation) & 96.31 \% & 90.84 \% & 83.11 \%\\
Car (3D Detection) & 26.89 \% & 18.54 \% & 15.79 \%\\
Car (Bird's Eye View) & 35.74 \% & 24.23 \% & 20.80 \%\\
Pedestrian (Detection) & 67.34 \% & 53.52 \% & 47.45 \%\\
Pedestrian (Orientation) & 64.04 \% & 50.19 \% & 44.37 \%\\
Pedestrian (3D Detection) & 11.67 \% & 7.47 \% & 6.61 \%\\
Pedestrian (Bird's Eye View) & 12.34 \% & 8.40 \% & 7.06 \%\\
Cyclist (Detection) & 75.15 \% & 58.65 \% & 50.54 \%\\
Cyclist (Orientation) & 70.90 \% & 54.00 \% & 46.66 \%\\
Cyclist (3D Detection) & 8.04 \% & 4.91 \% & 4.15 \%\\
Cyclist (Bird's Eye View) & 8.56 \% & 5.36 \% & 4.62 \%
\end{tabular}