\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.30 \% & 88.96 \% & 78.95 \%\\
Car (Orientation) & 94.10 \% & 88.50 \% & 78.35 \%\\
Car (3D Detection) & 24.75 \% & 16.73 \% & 13.49 \%\\
Car (Bird's Eye View) & 33.28 \% & 23.05 \% & 19.39 \%\\
Pedestrian (Detection) & 76.17 \% & 58.97 \% & 53.99 \%\\
Pedestrian (Orientation) & 69.15 \% & 52.62 \% & 47.89 \%\\
Pedestrian (3D Detection) & 15.78 \% & 10.34 \% & 8.74 \%\\
Pedestrian (Bird's Eye View) & 16.54 \% & 10.90 \% & 9.17 \%\\
Cyclist (Detection) & 71.68 \% & 53.71 \% & 45.26 \%\\
Cyclist (Orientation) & 62.21 \% & 45.21 \% & 38.28 \%\\
Cyclist (3D Detection) & 7.34 \% & 4.28 \% & 3.78 \%\\
Cyclist (Bird's Eye View) & 8.25 \% & 5.03 \% & 4.50 \%
\end{tabular}