\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.81 \% & 82.15 \% & 62.17 \%\\
Car (Orientation) & 93.65 \% & 80.88 \% & 61.17 \%\\
Car (3D Detection) & 65.68 \% & 41.25 \% & 30.42 \%\\
Car (Bird's Eye View) & 76.10 \% & 50.28 \% & 36.86 \%\\
Pedestrian (Detection) & 56.20 \% & 41.46 \% & 37.07 \%\\
Pedestrian (Orientation) & 48.99 \% & 35.62 \% & 31.58 \%\\
Pedestrian (3D Detection) & 28.49 \% & 19.75 \% & 16.48 \%\\
Pedestrian (Bird's Eye View) & 31.01 \% & 20.76 \% & 18.41 \%
\end{tabular}