\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.70 \% & 83.12 \% & 73.75 \%\\
Car (Orientation) & 92.17 \% & 82.23 \% & 72.75 \%\\
Car (3D Detection) & 26.90 \% & 15.40 \% & 12.48 \%\\
Car (Bird's Eye View) & 38.51 \% & 22.86 \% & 19.26 \%\\
Pedestrian (Detection) & 46.50 \% & 34.15 \% & 30.83 \%\\
Pedestrian (Orientation) & 26.40 \% & 18.96 \% & 16.95 \%\\
Pedestrian (3D Detection) & 12.99 \% & 7.96 \% & 6.86 \%\\
Pedestrian (Bird's Eye View) & 15.02 \% & 9.42 \% & 7.98 \%\\
Cyclist (Detection) & 38.19 \% & 25.17 \% & 22.09 \%\\
Cyclist (Orientation) & 18.38 \% & 11.65 \% & 10.59 \%\\
Cyclist (3D Detection) & 2.28 \% & 1.28 \% & 1.17 \%\\
Cyclist (Bird's Eye View) & 4.42 \% & 2.76 \% & 2.36 \%
\end{tabular}