\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.69 \% & 93.99 \% & 89.37 \%\\
Car (Orientation) & 94.67 \% & 93.78 \% & 88.99 \%\\
Car (3D Detection) & 23.19 \% & 16.87 \% & 14.36 \%\\
Car (Bird's Eye View) & 32.35 \% & 23.41 \% & 20.42 \%\\
Pedestrian (Detection) & 85.71 \% & 73.09 \% & 68.54 \%\\
Pedestrian (Orientation) & 77.09 \% & 63.92 \% & 59.41 \%\\
Pedestrian (3D Detection) & 16.64 \% & 11.04 \% & 9.38 \%\\
Pedestrian (Bird's Eye View) & 18.58 \% & 12.51 \% & 10.65 \%\\
Cyclist (Detection) & 81.13 \% & 65.98 \% & 58.86 \%\\
Cyclist (Orientation) & 73.60 \% & 57.42 \% & 50.90 \%\\
Cyclist (3D Detection) & 7.52 \% & 4.79 \% & 4.22 \%\\
Cyclist (Bird's Eye View) & 9.20 \% & 5.69 \% & 5.20 \%
\end{tabular}