\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 88.43 \% & 80.30 \% & 74.19 \%\\
Car (Orientation) & 88.23 \% & 79.86 \% & 73.54 \%\\
Car (3D Detection) & 26.26 \% & 19.26 \% & 17.05 \%\\
Car (Bird's Eye View) & 34.68 \% & 25.40 \% & 22.85 \%\\
Pedestrian (Detection) & 37.11 \% & 28.50 \% & 25.83 \%\\
Pedestrian (Orientation) & 33.83 \% & 25.45 \% & 22.95 \%\\
Pedestrian (3D Detection) & 13.18 \% & 8.67 \% & 7.43 \%\\
Pedestrian (Bird's Eye View) & 14.10 \% & 9.30 \% & 8.02 \%\\
Cyclist (Detection) & 45.93 \% & 31.01 \% & 27.06 \%\\
Cyclist (Orientation) & 40.75 \% & 27.07 \% & 23.54 \%\\
Cyclist (3D Detection) & 4.30 \% & 2.79 \% & 2.51 \%\\
Cyclist (Bird's Eye View) & 5.54 \% & 3.61 \% & 3.19 \%
\end{tabular}