\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 85.57 \% & 77.88 \% & 61.16 \%\\
Car (Orientation) & 84.89 \% & 76.89 \% & 60.21 \%\\
Car (3D Detection) & 17.82 \% & 12.99 \% & 9.78 \%\\
Car (Bird's Eye View) & 26.00 \% & 17.89 \% & 14.18 \%\\
Pedestrian (Detection) & 47.22 \% & 34.95 \% & 30.64 \%\\
Pedestrian (Orientation) & 40.50 \% & 29.75 \% & 25.96 \%\\
Pedestrian (3D Detection) & 6.01 \% & 4.71 \% & 3.87 \%\\
Pedestrian (Bird's Eye View) & 7.14 \% & 5.22 \% & 4.21 \%\\
Cyclist (Detection) & 51.49 \% & 36.69 \% & 30.04 \%\\
Cyclist (Orientation) & 42.60 \% & 30.01 \% & 24.74 \%\\
Cyclist (3D Detection) & 4.36 \% & 2.43 \% & 2.55 \%\\
Cyclist (Bird's Eye View) & 5.44 \% & 3.33 \% & 2.82 \%
\end{tabular}