\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.01 \% & 91.02 \% & 83.38 \%\\
Car (Orientation) & 95.95 \% & 90.82 \% & 83.11 \%\\
Car (3D Detection) & 19.94 \% & 13.89 \% & 12.07 \%\\
Car (Bird's Eye View) & 28.23 \% & 19.75 \% & 16.89 \%\\
Pedestrian (Detection) & 62.64 \% & 47.58 \% & 43.15 \%\\
Pedestrian (Orientation) & 58.96 \% & 44.20 \% & 39.89 \%\\
Pedestrian (3D Detection) & 9.43 \% & 6.31 \% & 5.26 \%\\
Pedestrian (Bird's Eye View) & 10.36 \% & 7.36 \% & 6.29 \%\\
Cyclist (Detection) & 72.41 \% & 54.76 \% & 46.21 \%\\
Cyclist (Orientation) & 65.51 \% & 47.91 \% & 40.40 \%\\
Cyclist (3D Detection) & 4.17 \% & 2.35 \% & 2.04 \%\\
Cyclist (Bird's Eye View) & 4.41 \% & 2.67 \% & 2.50 \%
\end{tabular}