\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.32 \% & 90.88 \% & 83.27 \%\\
Car (Orientation) & 96.19 \% & 90.65 \% & 82.95 \%\\
Car (3D Detection) & 21.29 \% & 13.87 \% & 11.71 \%\\
Car (Bird's Eye View) & 29.03 \% & 19.70 \% & 17.26 \%\\
Pedestrian (Detection) & 58.79 \% & 43.73 \% & 39.45 \%\\
Pedestrian (Orientation) & 47.45 \% & 34.63 \% & 31.01 \%\\
Pedestrian (3D Detection) & 4.27 \% & 2.79 \% & 2.21 \%\\
Pedestrian (Bird's Eye View) & 4.61 \% & 3.05 \% & 2.85 \%\\
Cyclist (Detection) & 51.06 \% & 41.19 \% & 35.70 \%\\
Cyclist (Orientation) & 43.70 \% & 32.19 \% & 27.93 \%\\
Cyclist (3D Detection) & 1.80 \% & 0.92 \% & 0.71 \%\\
Cyclist (Bird's Eye View) & 2.36 \% & 1.18 \% & 1.15 \%
\end{tabular}