\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.58 \% & 86.23 \% & 79.19 \%\\
Car (Orientation) & 90.42 \% & 85.73 \% & 78.52 \%\\
Car (3D Detection) & 26.07 \% & 18.85 \% & 16.76 \%\\
Car (Bird's Eye View) & 33.94 \% & 25.06 \% & 22.04 \%\\
Pedestrian (Detection) & 1.49 \% & 1.09 \% & 1.18 \%\\
Pedestrian (Orientation) & 1.15 \% & 0.80 \% & 0.86 \%\\
Pedestrian (3D Detection) & 0.12 \% & 0.15 \% & 0.15 \%\\
Pedestrian (Bird's Eye View) & 0.15 \% & 0.17 \% & 0.17 \%\\
Cyclist (Detection) & 0.00 \% & 0.68 \% & 0.83 \%\\
Cyclist (Orientation) & 0.00 \% & 0.26 \% & 0.44 \%\\
Cyclist (3D Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Cyclist (Bird's Eye View) & 0.00 \% & 0.00 \% & 0.00 \%
\end{tabular}