\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.60 \% & 86.89 \% & 77.23 \%\\
Car (Orientation) & 94.24 \% & 86.13 \% & 76.38 \%\\
Car (3D Detection) & 22.75 \% & 17.13 \% & 15.63 \%\\
Car (Bird's Eye View) & 31.13 \% & 23.46 \% & 20.97 \%\\
Pedestrian (Detection) & 46.50 \% & 34.43 \% & 31.06 \%\\
Pedestrian (Orientation) & 28.43 \% & 20.54 \% & 18.36 \%\\
Pedestrian (3D Detection) & 13.20 \% & 8.26 \% & 7.02 \%\\
Pedestrian (Bird's Eye View) & 15.27 \% & 9.66 \% & 8.28 \%\\
Cyclist (Detection) & 45.35 \% & 29.89 \% & 26.49 \%\\
Cyclist (Orientation) & 30.64 \% & 20.13 \% & 18.19 \%\\
Cyclist (3D Detection) & 4.73 \% & 2.48 \% & 2.16 \%\\
Cyclist (Bird's Eye View) & 5.24 \% & 2.80 \% & 2.55 \%
\end{tabular}