\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.33 \% & 78.21 \% & 61.58 \%\\
Car (Orientation) & 91.51 \% & 75.95 \% & 59.55 \%\\
Car (3D Detection) & 20.28 \% & 13.12 \% & 9.56 \%\\
Car (Bird's Eye View) & 27.39 \% & 17.60 \% & 13.25 \%\\
Pedestrian (Detection) & 49.26 \% & 34.74 \% & 30.37 \%\\
Pedestrian (Orientation) & 38.13 \% & 26.28 \% & 22.91 \%\\
Pedestrian (3D Detection) & 7.62 \% & 5.23 \% & 4.28 \%\\
Pedestrian (Bird's Eye View) & 8.69 \% & 5.62 \% & 5.25 \%\\
Cyclist (Detection) & 37.41 \% & 23.59 \% & 21.20 \%\\
Cyclist (Orientation) & 23.82 \% & 15.24 \% & 13.84 \%\\
Cyclist (3D Detection) & 1.87 \% & 1.60 \% & 1.66 \%\\
Cyclist (Bird's Eye View) & 1.91 \% & 1.65 \% & 1.75 \%
\end{tabular}