\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.61 \% & 80.73 \% & 71.09 \%\\
Car (Orientation) & 78.28 \% & 67.31 \% & 59.52 \%\\
Car (3D Detection) & 19.17 \% & 13.41 \% & 11.46 \%\\
Car (Bird's Eye View) & 27.94 \% & 18.91 \% & 17.19 \%\\
Pedestrian (Detection) & 46.35 \% & 32.42 \% & 29.98 \%\\
Pedestrian (Orientation) & 24.45 \% & 17.13 \% & 15.79 \%\\
Pedestrian (3D Detection) & 12.87 \% & 8.14 \% & 6.76 \%\\
Pedestrian (Bird's Eye View) & 14.72 \% & 9.41 \% & 8.17 \%\\
Cyclist (Detection) & 40.03 \% & 27.13 \% & 23.23 \%\\
Cyclist (Orientation) & 30.35 \% & 19.96 \% & 17.38 \%\\
Cyclist (3D Detection) & 7.00 \% & 3.41 \% & 3.30 \%\\
Cyclist (Bird's Eye View) & 9.67 \% & 5.38 \% & 4.75 \%
\end{tabular}