\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.56 \% & 86.62 \% & 78.73 \%\\
Car (Orientation) & 92.29 \% & 85.93 \% & 77.78 \%\\
Car (Bird's Eye View) & 23.43 \% & 17.38 \% & 14.74 \%\\
Pedestrian (Detection) & 56.80 \% & 42.32 \% & 37.86 \%\\
Pedestrian (Orientation) & 50.48 \% & 37.02 \% & 32.96 \%\\
Pedestrian (Bird's Eye View) & 1.58 \% & 1.24 \% & 0.96 \%\\
Cyclist (Detection) & 62.78 \% & 42.37 \% & 36.88 \%\\
Cyclist (Orientation) & 52.62 \% & 34.71 \% & 30.22 \%\\
Cyclist (Bird's Eye View) & 3.00 \% & 1.65 \% & 1.37 \%
\end{tabular}