\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.34 \% & 83.67 \% & 65.33 \%\\
Car (Orientation) & 90.01 \% & 82.08 \% & 63.98 \%\\
Car (3D Detection) & 16.65 \% & 11.72 \% & 9.51 \%\\
Car (Bird's Eye View) & 22.51 \% & 16.02 \% & 12.55 \%\\
Pedestrian (Detection) & 59.55 \% & 43.50 \% & 37.12 \%\\
Pedestrian (Orientation) & 46.73 \% & 33.62 \% & 28.71 \%\\
Pedestrian (3D Detection) & 4.55 \% & 3.42 \% & 2.83 \%\\
Pedestrian (Bird's Eye View) & 5.06 \% & 3.86 \% & 3.59 \%\\
Cyclist (Detection) & 65.29 \% & 42.86 \% & 36.29 \%\\
Cyclist (Orientation) & 48.03 \% & 31.70 \% & 26.99 \%\\
Cyclist (3D Detection) & 2.45 \% & 1.67 \% & 1.36 \%\\
Cyclist (Bird's Eye View) & 2.72 \% & 1.82 \% & 1.79 \%
\end{tabular}