\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.31 \% & 86.69 \% & 71.87 \%\\
Car (Orientation) & 94.22 \% & 86.37 \% & 71.52 \%\\
Car (3D Detection) & 20.08 \% & 13.72 \% & 11.34 \%\\
Car (Bird's Eye View) & 27.20 \% & 18.62 \% & 15.69 \%\\
Pedestrian (Detection) & 60.29 \% & 45.76 \% & 39.39 \%\\
Pedestrian (Orientation) & 56.59 \% & 42.54 \% & 36.64 \%\\
Pedestrian (3D Detection) & 12.26 \% & 7.90 \% & 6.62 \%\\
Pedestrian (Bird's Eye View) & 13.45 \% & 9.04 \% & 7.74 \%\\
Cyclist (Detection) & 67.78 \% & 48.84 \% & 42.44 \%\\
Cyclist (Orientation) & 56.32 \% & 39.84 \% & 34.82 \%\\
Cyclist (3D Detection) & 3.17 \% & 1.81 \% & 1.75 \%\\
Cyclist (Bird's Eye View) & 3.50 \% & 2.31 \% & 2.01 \%
\end{tabular}