\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.45 \% & 86.15 \% & 77.86 \%\\
Car (Orientation) & 94.16 \% & 85.50 \% & 76.93 \%\\
Car (3D Detection) & 20.83 \% & 13.49 \% & 11.18 \%\\
Car (Bird's Eye View) & 28.52 \% & 19.07 \% & 16.30 \%\\
Pedestrian (Detection) & 44.02 \% & 32.24 \% & 29.08 \%\\
Pedestrian (Orientation) & 32.63 \% & 23.28 \% & 20.76 \%\\
Pedestrian (3D Detection) & 11.16 \% & 6.93 \% & 5.96 \%\\
Pedestrian (Bird's Eye View) & 12.70 \% & 8.11 \% & 6.84 \%\\
Cyclist (Detection) & 46.35 \% & 30.16 \% & 26.13 \%\\
Cyclist (Orientation) & 30.41 \% & 19.46 \% & 16.67 \%\\
Cyclist (3D Detection) & 5.56 \% & 2.92 \% & 2.36 \%\\
Cyclist (Bird's Eye View) & 6.84 \% & 3.64 \% & 3.04 \%
\end{tabular}