\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.42 \% & 86.64 \% & 76.69 \%\\
Car (Orientation) & 94.01 \% & 85.97 \% & 75.84 \%\\
Car (3D Detection) & 21.88 \% & 14.46 \% & 11.89 \%\\
Car (Bird's Eye View) & 29.65 \% & 20.44 \% & 17.43 \%\\
Pedestrian (Detection) & 74.27 \% & 55.16 \% & 50.21 \%\\
Pedestrian (Orientation) & 68.78 \% & 50.66 \% & 45.89 \%\\
Pedestrian (3D Detection) & 13.43 \% & 8.65 \% & 7.69 \%\\
Pedestrian (Bird's Eye View) & 14.49 \% & 9.77 \% & 8.28 \%\\
Cyclist (Detection) & 67.71 \% & 46.42 \% & 39.44 \%\\
Cyclist (Orientation) & 57.64 \% & 38.46 \% & 32.76 \%\\
Cyclist (3D Detection) & 5.05 \% & 3.13 \% & 2.59 \%\\
Cyclist (Bird's Eye View) & 6.42 \% & 3.97 \% & 3.51 \%
\end{tabular}