\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.49 \% & 87.55 \% & 78.21 \%\\
Car (Orientation) & 94.20 \% & 86.88 \% & 77.34 \%\\
Car (3D Detection) & 29.22 \% & 18.13 \% & 15.35 \%\\
Car (Bird's Eye View) & 38.18 \% & 24.82 \% & 20.89 \%\\
Pedestrian (Detection) & 46.43 \% & 34.15 \% & 30.90 \%\\
Pedestrian (Orientation) & 33.74 \% & 24.19 \% & 21.63 \%\\
Pedestrian (3D Detection) & 12.93 \% & 8.33 \% & 7.20 \%\\
Pedestrian (Bird's Eye View) & 15.03 \% & 9.75 \% & 8.37 \%\\
Cyclist (Detection) & 46.46 \% & 30.95 \% & 27.00 \%\\
Cyclist (Orientation) & 29.75 \% & 19.50 \% & 17.08 \%\\
Cyclist (3D Detection) & 7.98 \% & 4.57 \% & 3.66 \%\\
Cyclist (Bird's Eye View) & 9.20 \% & 5.34 \% & 4.31 \%
\end{tabular}