\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 88.29 \% & 65.24 \% & 53.20 \%\\
Car (Orientation) & 87.95 \% & 64.02 \% & 52.06 \%\\
Car (3D Detection) & 18.09 \% & 11.14 \% & 8.94 \%\\
Car (Bird's Eye View) & 28.08 \% & 17.60 \% & 13.95 \%\\
Pedestrian (Detection) & 30.41 \% & 20.81 \% & 18.72 \%\\
Pedestrian (Orientation) & 25.83 \% & 17.26 \% & 15.41 \%\\
Pedestrian (3D Detection) & 11.14 \% & 7.18 \% & 5.84 \%\\
Pedestrian (Bird's Eye View) & 13.09 \% & 7.92 \% & 7.25 \%\\
Cyclist (Detection) & 44.47 \% & 27.17 \% & 22.84 \%\\
Cyclist (Orientation) & 26.54 \% & 16.02 \% & 13.20 \%\\
Cyclist (3D Detection) & 3.23 \% & 1.82 \% & 1.77 \%\\
Cyclist (Bird's Eye View) & 4.23 \% & 2.42 \% & 2.14 \%
\end{tabular}