\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.72 \% & 83.37 \% & 73.56 \%\\
Car (Orientation) & 93.12 \% & 82.23 \% & 72.29 \%\\
Car (3D Detection) & 14.70 \% & 9.99 \% & 8.65 \%\\
Car (Bird's Eye View) & 23.18 \% & 15.09 \% & 13.38 \%\\
Pedestrian (Detection) & 65.87 \% & 48.97 \% & 44.11 \%\\
Pedestrian (Orientation) & 56.23 \% & 41.23 \% & 36.90 \%\\
Pedestrian (3D Detection) & 12.76 \% & 8.19 \% & 6.86 \%\\
Pedestrian (Bird's Eye View) & 13.62 \% & 8.78 \% & 7.88 \%\\
Cyclist (Detection) & 58.11 \% & 38.80 \% & 32.26 \%\\
Cyclist (Orientation) & 42.73 \% & 28.58 \% & 23.80 \%\\
Cyclist (3D Detection) & 6.79 \% & 3.80 \% & 3.35 \%\\
Cyclist (Bird's Eye View) & 8.83 \% & 4.97 \% & 4.74 \%
\end{tabular}