\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.61 \% & 93.55 \% & 83.55 \%\\
Car (Orientation) & 91.65 \% & 86.11 \% & 76.45 \%\\
Car (3D Detection) & 13.04 \% & 9.99 \% & 8.65 \%\\
Car (Bird's Eye View) & 19.28 \% & 14.83 \% & 12.89 \%\\
Pedestrian (Detection) & 78.81 \% & 61.57 \% & 56.51 \%\\
Pedestrian (Orientation) & 55.26 \% & 42.38 \% & 38.53 \%\\
Pedestrian (3D Detection) & 10.02 \% & 6.68 \% & 5.53 \%\\
Pedestrian (Bird's Eye View) & 10.99 \% & 7.04 \% & 6.29 \%\\
Cyclist (Detection) & 74.77 \% & 56.37 \% & 48.37 \%\\
Cyclist (Orientation) & 53.36 \% & 39.47 \% & 33.95 \%\\
Cyclist (3D Detection) & 3.79 \% & 2.12 \% & 1.83 \%\\
Cyclist (Bird's Eye View) & 4.76 \% & 2.87 \% & 2.42 \%
\end{tabular}