\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 57.56 \% & 48.92 \% & 42.81 \%\\
Car (Orientation) & 25.54 \% & 22.24 \% & 19.33 \%\\
Car (3D Detection) & 28.50 \% & 24.10 \% & 20.32 \%\\
Car (Bird's Eye View) & 59.32 \% & 49.48 \% & 43.16 \%\\
Pedestrian (Detection) & 44.54 \% & 32.01 \% & 31.50 \%\\
Pedestrian (Orientation) & 23.20 \% & 19.84 \% & 19.57 \%\\
Pedestrian (3D Detection) & 4.27 \% & 4.25 \% & 4.26 \%\\
Pedestrian (Bird's Eye View) & 5.39 \% & 5.30 \% & 5.19 \%\\
Cyclist (Detection) & 23.73 \% & 17.66 \% & 11.94 \%\\
Cyclist (Orientation) & 6.60 \% & 5.26 \% & 3.68 \%\\
Cyclist (3D Detection) & 6.62 \% & 6.63 \% & 4.03 \%\\
Cyclist (Bird's Eye View) & 7.70 \% & 7.59 \% & 7.51 \%
\end{tabular}