\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.70 \% & 93.56 \% & 83.74 \%\\
Car (Orientation) & 96.56 \% & 93.23 \% & 83.42 \%\\
Car (3D Detection) & 24.90 \% & 18.86 \% & 16.79 \%\\
Car (Bird's Eye View) & 35.73 \% & 26.83 \% & 24.24 \%\\
Pedestrian (Detection) & 62.87 \% & 47.69 \% & 43.27 \%\\
Pedestrian (Orientation) & 52.66 \% & 38.92 \% & 35.05 \%\\
Pedestrian (3D Detection) & 2.89 \% & 1.94 \% & 1.91 \%\\
Pedestrian (Bird's Eye View) & 3.74 \% & 2.72 \% & 2.55 \%\\
Cyclist (Detection) & 80.41 \% & 58.35 \% & 51.21 \%\\
Cyclist (Orientation) & 76.10 \% & 54.91 \% & 47.58 \%\\
Cyclist (3D Detection) & 8.14 \% & 5.24 \% & 4.45 \%\\
Cyclist (Bird's Eye View) & 9.48 \% & 6.49 \% & 5.46 \%
\end{tabular}