\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.63 \% & 88.50 \% & 73.36 \%\\
Car (Orientation) & 93.29 \% & 87.45 \% & 72.26 \%\\
Car (3D Detection) & 10.76 \% & 7.25 \% & 5.85 \%\\
Car (Bird's Eye View) & 18.33 \% & 12.58 \% & 9.91 \%\\
Pedestrian (Detection) & 85.60 \% & 68.56 \% & 63.34 \%\\
Pedestrian (Orientation) & 68.98 \% & 54.65 \% & 50.07 \%\\
Pedestrian (3D Detection) & 6.12 \% & 4.00 \% & 3.30 \%\\
Pedestrian (Bird's Eye View) & 7.24 \% & 4.56 \% & 4.11 \%\\
Cyclist (Detection) & 82.06 \% & 72.08 \% & 62.43 \%\\
Cyclist (Orientation) & 58.63 \% & 49.32 \% & 43.05 \%\\
Cyclist (3D Detection) & 8.37 \% & 4.74 \% & 3.68 \%\\
Cyclist (Bird's Eye View) & 9.87 \% & 5.78 \% & 4.57 \%
\end{tabular}