\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.14 \% & 90.28 \% & 83.91 \%\\
Car (Orientation) & 95.07 \% & 89.81 \% & 83.24 \%\\
Car (3D Detection) & 28.55 \% & 18.69 \% & 16.77 \%\\
Car (Bird's Eye View) & 38.98 \% & 25.82 \% & 22.80 \%\\
Pedestrian (Detection) & 61.04 \% & 46.84 \% & 42.92 \%\\
Pedestrian (Orientation) & 42.60 \% & 31.97 \% & 29.13 \%\\
Pedestrian (3D Detection) & 13.94 \% & 8.79 \% & 7.42 \%\\
Pedestrian (Bird's Eye View) & 16.03 \% & 10.28 \% & 8.85 \%\\
Cyclist (Detection) & 73.18 \% & 51.76 \% & 45.37 \%\\
Cyclist (Orientation) & 56.46 \% & 38.70 \% & 34.00 \%\\
Cyclist (3D Detection) & 12.52 \% & 6.67 \% & 6.34 \%\\
Cyclist (Bird's Eye View) & 14.66 \% & 8.15 \% & 7.23 \%
\end{tabular}