\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.19 \% & 93.42 \% & 83.62 \%\\
Car (Orientation) & 95.99 \% & 93.11 \% & 83.14 \%\\
Car (3D Detection) & 26.11 \% & 19.15 \% & 16.94 \%\\
Car (Bird's Eye View) & 34.89 \% & 25.95 \% & 22.59 \%\\
Pedestrian (Detection) & 82.88 \% & 67.78 \% & 60.87 \%\\
Pedestrian (Orientation) & 75.13 \% & 60.28 \% & 53.85 \%\\
Pedestrian (3D Detection) & 17.09 \% & 11.27 \% & 10.00 \%\\
Pedestrian (Bird's Eye View) & 18.40 \% & 12.34 \% & 10.54 \%\\
Cyclist (Detection) & 74.54 \% & 54.63 \% & 47.98 \%\\
Cyclist (Orientation) & 65.31 \% & 47.09 \% & 41.74 \%\\
Cyclist (3D Detection) & 7.23 \% & 4.34 \% & 3.92 \%\\
Cyclist (Bird's Eye View) & 8.88 \% & 5.52 \% & 4.98 \%
\end{tabular}