\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 91.06 \% & 73.55 \% & 63.82 \%\\
Car (Orientation) & 88.48 \% & 70.10 \% & 60.35 \%\\
Car (3D Detection) & 11.55 \% & 7.47 \% & 6.27 \%\\
Car (Bird's Eye View) & 18.79 \% & 12.67 \% & 10.41 \%\\
Pedestrian (Detection) & 47.88 \% & 34.04 \% & 31.26 \%\\
Pedestrian (Orientation) & 39.50 \% & 27.66 \% & 25.05 \%\\
Pedestrian (3D Detection) & 8.86 \% & 5.80 \% & 4.63 \%\\
Pedestrian (Bird's Eye View) & 10.26 \% & 6.36 \% & 5.62 \%\\
Cyclist (Detection) & 25.82 \% & 15.76 \% & 14.16 \%\\
Cyclist (Orientation) & 15.41 \% & 9.59 \% & 8.62 \%\\
Cyclist (3D Detection) & 3.10 \% & 1.12 \% & 1.24 \%\\
Cyclist (Bird's Eye View) & 4.00 \% & 2.00 \% & 2.00 \%
\end{tabular}