\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.07 \% & 88.48 \% & 78.34 \%\\
Car (Orientation) & 93.75 \% & 87.47 \% & 77.19 \%\\
Car (3D Detection) & 6.88 \% & 3.87 \% & 2.83 \%\\
Car (Bird's Eye View) & 11.84 \% & 6.82 \% & 5.27 \%\\
Pedestrian (Detection) & 70.86 \% & 51.30 \% & 46.37 \%\\
Pedestrian (Orientation) & 64.73 \% & 46.56 \% & 41.86 \%\\
Pedestrian (3D Detection) & 7.95 \% & 4.66 \% & 4.16 \%\\
Pedestrian (Bird's Eye View) & 8.58 \% & 5.66 \% & 4.49 \%\\
Cyclist (Detection) & 63.24 \% & 42.96 \% & 38.22 \%\\
Cyclist (Orientation) & 51.95 \% & 34.77 \% & 31.10 \%\\
Cyclist (3D Detection) & 0.48 \% & 0.29 \% & 0.31 \%\\
Cyclist (Bird's Eye View) & 0.76 \% & 0.38 \% & 0.41 \%
\end{tabular}