\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.78 \% & 92.72 \% & 84.81 \%\\
Car (Orientation) & 38.09 \% & 39.78 \% & 35.40 \%\\
Car (3D Detection) & 23.59 \% & 15.01 \% & 12.56 \%\\
Car (Bird's Eye View) & 31.70 \% & 21.20 \% & 18.43 \%\\
Pedestrian (Detection) & 64.96 \% & 53.27 \% & 47.84 \%\\
Pedestrian (Orientation) & 34.26 \% & 28.07 \% & 25.14 \%\\
Pedestrian (3D Detection) & 11.17 \% & 6.95 \% & 5.87 \%\\
Pedestrian (Bird's Eye View) & 11.67 \% & 7.65 \% & 6.60 \%\\
Cyclist (Detection) & 81.99 \% & 66.98 \% & 58.56 \%\\
Cyclist (Orientation) & 29.00 \% & 23.98 \% & 21.67 \%\\
Cyclist (3D Detection) & 3.65 \% & 2.67 \% & 2.28 \%\\
Cyclist (Bird's Eye View) & 5.01 \% & 3.35 \% & 3.23 \%
\end{tabular}