\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.15 \% & 89.99 \% & 80.29 \%\\
Car (Orientation) & 94.85 \% & 89.23 \% & 79.43 \%\\
Car (3D Detection) & 26.43 \% & 18.62 \% & 15.89 \%\\
Car (Bird's Eye View) & 35.75 \% & 24.57 \% & 21.26 \%\\
Pedestrian (Detection) & 66.73 \% & 50.26 \% & 45.48 \%\\
Pedestrian (Orientation) & 59.88 \% & 44.25 \% & 39.77 \%\\
Pedestrian (3D Detection) & 16.14 \% & 10.50 \% & 8.73 \%\\
Pedestrian (Bird's Eye View) & 17.16 \% & 10.95 \% & 9.20 \%\\
Cyclist (Detection) & 60.23 \% & 39.70 \% & 35.10 \%\\
Cyclist (Orientation) & 49.51 \% & 32.33 \% & 28.48 \%\\
Cyclist (3D Detection) & 7.17 \% & 3.91 \% & 3.38 \%\\
Cyclist (Bird's Eye View) & 8.68 \% & 5.03 \% & 4.41 \%
\end{tabular}