\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.14 \% & 86.15 \% & 76.25 \%\\
Car (Orientation) & 93.39 \% & 84.70 \% & 74.71 \%\\
Car (3D Detection) & 18.62 \% & 12.74 \% & 11.10 \%\\
Car (Bird's Eye View) & 26.42 \% & 17.74 \% & 15.71 \%\\
Pedestrian (Detection) & 65.70 \% & 48.66 \% & 43.93 \%\\
Pedestrian (Orientation) & 56.10 \% & 41.04 \% & 36.74 \%\\
Pedestrian (3D Detection) & 12.88 \% & 8.22 \% & 6.91 \%\\
Pedestrian (Bird's Eye View) & 13.79 \% & 8.79 \% & 7.99 \%\\
Cyclist (Detection) & 52.35 \% & 35.46 \% & 30.87 \%\\
Cyclist (Orientation) & 35.49 \% & 23.84 \% & 21.15 \%\\
Cyclist (3D Detection) & 4.19 \% & 2.31 \% & 2.01 \%\\
Cyclist (Bird's Eye View) & 4.95 \% & 2.63 \% & 2.65 \%
\end{tabular}