\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.26 \% & 93.66 \% & 83.63 \%\\
Car (Orientation) & 92.61 \% & 90.49 \% & 80.32 \%\\
Car (3D Detection) & 12.81 \% & 9.33 \% & 7.86 \%\\
Car (Bird's Eye View) & 20.16 \% & 14.71 \% & 12.76 \%\\
Pedestrian (Detection) & 78.41 \% & 59.26 \% & 54.37 \%\\
Pedestrian (Orientation) & 68.64 \% & 51.46 \% & 47.00 \%\\
Pedestrian (3D Detection) & 5.53 \% & 3.37 \% & 3.02 \%\\
Pedestrian (Bird's Eye View) & 6.62 \% & 4.23 \% & 3.39 \%\\
Cyclist (Detection) & 75.55 \% & 56.51 \% & 49.70 \%\\
Cyclist (Orientation) & 64.64 \% & 46.24 \% & 40.58 \%\\
Cyclist (3D Detection) & 4.16 \% & 2.39 \% & 1.85 \%\\
Cyclist (Bird's Eye View) & 5.71 \% & 3.02 \% & 2.73 \%
\end{tabular}