\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.75 \% & 90.27 \% & 82.32 \%\\
Car (Orientation) & 95.60 \% & 89.78 \% & 81.68 \%\\
Car (3D Detection) & 23.74 \% & 17.74 \% & 15.14 \%\\
Car (Bird's Eye View) & 32.64 \% & 23.76 \% & 20.64 \%\\
Pedestrian (Detection) & 55.47 \% & 40.47 \% & 36.65 \%\\
Pedestrian (Orientation) & 32.84 \% & 23.67 \% & 21.40 \%\\
Pedestrian (3D Detection) & 16.95 \% & 10.82 \% & 9.26 \%\\
Pedestrian (Bird's Eye View) & 19.03 \% & 12.23 \% & 10.53 \%\\
Cyclist (Detection) & 58.13 \% & 41.13 \% & 35.90 \%\\
Cyclist (Orientation) & 41.21 \% & 27.99 \% & 24.75 \%\\
Cyclist (3D Detection) & 11.22 \% & 6.18 \% & 5.21 \%\\
Cyclist (Bird's Eye View) & 12.80 \% & 7.29 \% & 6.05 \%
\end{tabular}