\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.91 \% & 90.12 \% & 80.67 \%\\
Car (Orientation) & 95.40 \% & 89.09 \% & 79.40 \%\\
Car (3D Detection) & 21.69 \% & 14.74 \% & 13.08 \%\\
Car (Bird's Eye View) & 30.36 \% & 21.19 \% & 18.45 \%\\
Pedestrian (Detection) & 63.65 \% & 49.01 \% & 42.86 \%\\
Pedestrian (Orientation) & 56.78 \% & 43.09 \% & 37.54 \%\\
Pedestrian (3D Detection) & 11.90 \% & 7.52 \% & 6.66 \%\\
Pedestrian (Bird's Eye View) & 13.13 \% & 8.62 \% & 7.27 \%\\
Cyclist (Detection) & 68.66 \% & 48.20 \% & 41.69 \%\\
Cyclist (Orientation) & 58.96 \% & 40.72 \% & 35.22 \%\\
Cyclist (3D Detection) & 8.23 \% & 4.64 \% & 3.91 \%\\
Cyclist (Bird's Eye View) & 9.09 \% & 5.61 \% & 4.77 \%
\end{tabular}