\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.90 \% & 93.86 \% & 83.94 \%\\
Car (Orientation) & 96.68 \% & 93.26 \% & 83.34 \%\\
Car (3D Detection) & 25.56 \% & 17.80 \% & 15.38 \%\\
Car (Bird's Eye View) & 35.96 \% & 24.81 \% & 21.86 \%\\
Pedestrian (Detection) & 62.44 \% & 44.13 \% & 39.46 \%\\
Pedestrian (Orientation) & 56.60 \% & 39.79 \% & 35.42 \%\\
Pedestrian (3D Detection) & 10.82 \% & 7.33 \% & 6.18 \%\\
Pedestrian (Bird's Eye View) & 12.11 \% & 7.92 \% & 6.61 \%\\
Cyclist (Detection) & 72.36 \% & 53.04 \% & 46.11 \%\\
Cyclist (Orientation) & 63.07 \% & 45.24 \% & 39.28 \%\\
Cyclist (3D Detection) & 6.98 \% & 4.38 \% & 3.56 \%\\
Cyclist (Bird's Eye View) & 8.14 \% & 4.90 \% & 3.86 \%
\end{tabular}