\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.05 \% & 87.44 \% & 77.48 \%\\
Car (Orientation) & 90.95 \% & 84.56 \% & 74.72 \%\\
Car (3D Detection) & 9.95 \% & 7.08 \% & 6.06 \%\\
Car (Bird's Eye View) & 14.92 \% & 10.83 \% & 9.55 \%\\
Pedestrian (Detection) & 72.50 \% & 53.79 \% & 48.89 \%\\
Pedestrian (Orientation) & 58.36 \% & 42.99 \% & 38.82 \%\\
Pedestrian (3D Detection) & 5.20 \% & 4.07 \% & 3.43 \%\\
Pedestrian (Bird's Eye View) & 6.15 \% & 4.50 \% & 3.76 \%\\
Cyclist (Detection) & 68.42 \% & 47.40 \% & 41.60 \%\\
Cyclist (Orientation) & 54.36 \% & 37.94 \% & 32.68 \%\\
Cyclist (3D Detection) & 2.55 \% & 1.54 \% & 1.21 \%\\
Cyclist (Bird's Eye View) & 3.24 \% & 1.76 \% & 1.81 \%
\end{tabular}