\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.13 \% & 89.72 \% & 80.15 \%\\
Car (Orientation) & 91.77 \% & 89.15 \% & 79.47 \%\\
Car (3D Detection) & 28.80 \% & 19.89 \% & 17.65 \%\\
Car (Bird's Eye View) & 37.58 \% & 26.60 \% & 23.15 \%\\
Pedestrian (Detection) & 70.75 \% & 54.41 \% & 49.66 \%\\
Pedestrian (Orientation) & 64.34 \% & 48.49 \% & 43.91 \%\\
Pedestrian (3D Detection) & 16.76 \% & 10.94 \% & 9.31 \%\\
Pedestrian (Bird's Eye View) & 17.69 \% & 11.80 \% & 10.22 \%\\
Cyclist (Detection) & 64.73 \% & 44.17 \% & 39.45 \%\\
Cyclist (Orientation) & 51.99 \% & 35.67 \% & 32.11 \%\\
Cyclist (3D Detection) & 7.23 \% & 4.32 \% & 4.09 \%\\
Cyclist (Bird's Eye View) & 8.31 \% & 5.27 \% & 4.44 \%
\end{tabular}