\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.13 \% & 78.81 \% & 60.40 \%\\
Car (Orientation) & 89.79 \% & 77.41 \% & 59.20 \%\\
Car (3D Detection) & 19.40 \% & 13.63 \% & 10.35 \%\\
Car (Bird's Eye View) & 28.17 \% & 19.17 \% & 14.84 \%\\
Pedestrian (Detection) & 45.20 \% & 31.84 \% & 27.94 \%\\
Pedestrian (Orientation) & 35.75 \% & 24.88 \% & 21.72 \%\\
Pedestrian (3D Detection) & 6.09 \% & 3.62 \% & 3.39 \%\\
Pedestrian (Bird's Eye View) & 6.66 \% & 4.52 \% & 3.71 \%\\
Cyclist (Detection) & 48.34 \% & 31.93 \% & 27.95 \%\\
Cyclist (Orientation) & 38.60 \% & 24.85 \% & 21.86 \%\\
Cyclist (3D Detection) & 5.69 \% & 3.58 \% & 3.10 \%\\
Cyclist (Bird's Eye View) & 5.99 \% & 4.00 \% & 3.95 \%
\end{tabular}