\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.15 \% & 86.45 \% & 74.18 \%\\
Car (Orientation) & 93.92 \% & 85.90 \% & 73.55 \%\\
Car (3D Detection) & 22.26 \% & 15.02 \% & 13.12 \%\\
Car (Bird's Eye View) & 30.29 \% & 21.19 \% & 18.20 \%\\
Pedestrian (Detection) & 74.95 \% & 55.65 \% & 48.44 \%\\
Pedestrian (Orientation) & 68.93 \% & 50.74 \% & 44.01 \%\\
Pedestrian (3D Detection) & 14.95 \% & 9.76 \% & 8.41 \%\\
Pedestrian (Bird's Eye View) & 15.62 \% & 10.37 \% & 8.79 \%\\
Cyclist (Detection) & 67.11 \% & 42.78 \% & 37.94 \%\\
Cyclist (Orientation) & 55.03 \% & 35.03 \% & 31.18 \%\\
Cyclist (3D Detection) & 5.58 \% & 3.21 \% & 2.66 \%\\
Cyclist (Bird's Eye View) & 6.94 \% & 3.85 \% & 3.64 \%
\end{tabular}