\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.18 \% & 93.42 \% & 83.62 \%\\
Car (Orientation) & 95.99 \% & 93.11 \% & 83.13 \%\\
Car (3D Detection) & 26.07 \% & 19.06 \% & 16.85 \%\\
Car (Bird's Eye View) & 34.57 \% & 25.83 \% & 22.47 \%\\
Pedestrian (Detection) & 82.92 \% & 67.83 \% & 60.90 \%\\
Pedestrian (Orientation) & 75.23 \% & 60.39 \% & 53.94 \%\\
Pedestrian (3D Detection) & 17.15 \% & 11.32 \% & 9.94 \%\\
Pedestrian (Bird's Eye View) & 18.37 \% & 12.30 \% & 10.47 \%\\
Cyclist (Detection) & 74.42 \% & 54.77 \% & 48.08 \%\\
Cyclist (Orientation) & 64.39 \% & 46.76 \% & 41.36 \%\\
Cyclist (3D Detection) & 7.11 \% & 4.27 \% & 3.87 \%\\
Cyclist (Bird's Eye View) & 8.75 \% & 5.44 \% & 4.88 \%
\end{tabular}