\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.79 \% & 87.33 \% & 77.76 \%\\
Car (Orientation) & 95.49 \% & 86.67 \% & 77.04 \%\\
Car (3D Detection) & 26.80 \% & 18.12 \% & 15.42 \%\\
Car (Bird's Eye View) & 35.64 \% & 25.25 \% & 22.09 \%\\
Pedestrian (Detection) & 59.74 \% & 45.64 \% & 41.29 \%\\
Pedestrian (Orientation) & 52.95 \% & 40.07 \% & 36.09 \%\\
Pedestrian (3D Detection) & 9.03 \% & 6.05 \% & 5.08 \%\\
Pedestrian (Bird's Eye View) & 10.26 \% & 6.75 \% & 5.61 \%\\
Cyclist (Detection) & 73.71 \% & 51.59 \% & 44.86 \%\\
Cyclist (Orientation) & 60.19 \% & 41.71 \% & 36.43 \%\\
Cyclist (3D Detection) & 5.29 \% & 3.00 \% & 2.56 \%\\
Cyclist (Bird's Eye View) & 6.73 \% & 3.60 \% & 3.30 \%
\end{tabular}