\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.72 \% & 84.92 \% & 70.35 \%\\
Car (Orientation) & 92.57 \% & 84.38 \% & 69.82 \%\\
Car (3D Detection) & 10.78 \% & 7.68 \% & 6.51 \%\\
Car (Bird's Eye View) & 16.33 \% & 11.52 \% & 9.93 \%\\
Pedestrian (Detection) & 61.58 \% & 45.79 \% & 41.14 \%\\
Pedestrian (Orientation) & 53.72 \% & 39.60 \% & 35.40 \%\\
Pedestrian (3D Detection) & 2.31 \% & 1.78 \% & 1.48 \%\\
Pedestrian (Bird's Eye View) & 2.48 \% & 2.09 \% & 1.61 \%\\
Cyclist (Detection) & 52.97 \% & 35.48 \% & 31.07 \%\\
Cyclist (Orientation) & 42.95 \% & 27.79 \% & 24.26 \%\\
Cyclist (3D Detection) & 2.80 \% & 1.45 \% & 1.35 \%\\
Cyclist (Bird's Eye View) & 3.45 \% & 1.89 \% & 1.44 \%
\end{tabular}