\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 86.87 \% & 68.17 \% & 67.89 \%\\
Car (Orientation) & 85.83 \% & 66.95 \% & 65.96 \%\\
Car (3D Detection) & 68.57 \% & 47.04 \% & 44.13 \%\\
Car (Bird's Eye View) & 81.68 \% & 64.77 \% & 61.60 \%\\
Pedestrian (Detection) & 15.97 \% & 12.53 \% & 11.54 \%\\
Pedestrian (Orientation) & 6.68 \% & 5.31 \% & 4.89 \%\\
Pedestrian (3D Detection) & 10.87 \% & 8.66 \% & 7.83 \%\\
Pedestrian (Bird's Eye View) & 13.48 \% & 11.09 \% & 10.19 \%\\
Cyclist (Detection) & 13.96 \% & 9.81 \% & 8.76 \%\\
Cyclist (Orientation) & 7.07 \% & 4.97 \% & 4.49 \%\\
Cyclist (3D Detection) & 6.75 \% & 4.43 \% & 3.84 \%\\
Cyclist (Bird's Eye View) & 9.11 \% & 6.27 \% & 5.34 \%
\end{tabular}