\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.50 \% & 86.73 \% & 71.87 \%\\
Car (Orientation) & 94.42 \% & 86.35 \% & 71.42 \%\\
Car (3D Detection) & 18.38 \% & 11.65 \% & 9.42 \%\\
Car (Bird's Eye View) & 26.48 \% & 16.56 \% & 13.67 \%\\
Pedestrian (Detection) & 74.40 \% & 55.20 \% & 48.08 \%\\
Pedestrian (Orientation) & 67.47 \% & 49.57 \% & 43.12 \%\\
Pedestrian (3D Detection) & 12.62 \% & 8.06 \% & 6.78 \%\\
Pedestrian (Bird's Eye View) & 13.52 \% & 8.60 \% & 7.18 \%\\
Cyclist (Detection) & 64.63 \% & 45.72 \% & 39.60 \%\\
Cyclist (Orientation) & 52.25 \% & 36.74 \% & 32.07 \%\\
Cyclist (3D Detection) & 3.50 \% & 1.87 \% & 1.55 \%\\
Cyclist (Bird's Eye View) & 4.54 \% & 2.10 \% & 2.24 \%
\end{tabular}