\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.22 \% & 93.39 \% & 85.84 \%\\
Car (Orientation) & 96.13 \% & 93.01 \% & 85.21 \%\\
Car (3D Detection) & 27.94 \% & 19.64 \% & 16.74 \%\\
Car (Bird's Eye View) & 36.38 \% & 26.05 \% & 22.87 \%\\
Pedestrian (Detection) & 77.32 \% & 59.09 \% & 54.25 \%\\
Pedestrian (Orientation) & 71.12 \% & 53.39 \% & 48.57 \%\\
Pedestrian (3D Detection) & 16.08 \% & 10.61 \% & 8.90 \%\\
Pedestrian (Bird's Eye View) & 17.55 \% & 11.87 \% & 10.21 \%\\
Cyclist (Detection) & 72.88 \% & 54.58 \% & 48.14 \%\\
Cyclist (Orientation) & 59.88 \% & 44.03 \% & 39.11 \%\\
Cyclist (3D Detection) & 5.30 \% & 3.19 \% & 3.21 \%\\
Cyclist (Bird's Eye View) & 6.02 \% & 4.18 \% & 3.62 \%
\end{tabular}