\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 88.59 \% & 79.84 \% & 72.78 \%\\
Car (Orientation) & 88.52 \% & 79.49 \% & 72.23 \%\\
Car (3D Detection) & 26.09 \% & 18.36 \% & 15.86 \%\\
Car (Bird's Eye View) & 34.71 \% & 24.84 \% & 22.14 \%\\
Pedestrian (Detection) & 34.68 \% & 26.21 \% & 23.62 \%\\
Pedestrian (Orientation) & 31.60 \% & 23.48 \% & 21.10 \%\\
Pedestrian (3D Detection) & 12.79 \% & 8.39 \% & 7.07 \%\\
Pedestrian (Bird's Eye View) & 14.02 \% & 9.30 \% & 7.93 \%\\
Cyclist (Detection) & 43.82 \% & 29.62 \% & 25.55 \%\\
Cyclist (Orientation) & 37.82 \% & 24.99 \% & 21.68 \%\\
Cyclist (3D Detection) & 6.53 \% & 4.03 \% & 3.31 \%\\
Cyclist (Bird's Eye View) & 7.89 \% & 4.62 \% & 4.00 \%
\end{tabular}