\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 62.41 \% & 51.95 \% & 39.14 \%\\
Car (Orientation) & 44.06 \% & 36.31 \% & 27.32 \%\\
Car (3D Detection) & 45.79 \% & 38.76 \% & 30.00 \%\\
Car (Bird's Eye View) & 69.14 \% & 59.00 \% & 45.49 \%\\
Pedestrian (Detection) & 55.56 \% & 39.83 \% & 35.18 \%\\
Pedestrian (Orientation) & 40.81 \% & 28.75 \% & 25.13 \%\\
Pedestrian (3D Detection) & 16.23 \% & 11.41 \% & 10.12 \%\\
Pedestrian (Bird's Eye View) & 19.92 \% & 14.22 \% & 12.83 \%\\
Cyclist (Detection) & 33.64 \% & 22.90 \% & 19.87 \%\\
Cyclist (Orientation) & 23.91 \% & 16.18 \% & 14.23 \%\\
Cyclist (3D Detection) & 18.31 \% & 12.99 \% & 10.63 \%\\
Cyclist (Bird's Eye View) & 20.59 \% & 13.92 \% & 12.74 \%
\end{tabular}