\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Car (Orientation) & 0.00 \% & 0.00 \% & 0.00 \%\\
Car (3D Detection) & 27.76 \% & 20.47 \% & 17.89 \%\\
Car (Bird's Eye View) & 36.83 \% & 26.92 \% & 23.41 \%\\
Pedestrian (Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Pedestrian (Orientation) & 0.00 \% & 0.00 \% & 0.00 \%\\
Pedestrian (3D Detection) & 4.62 \% & 2.95 \% & 2.58 \%\\
Pedestrian (Bird's Eye View) & 4.93 \% & 3.27 \% & 2.74 \%\\
Cyclist (Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Cyclist (Orientation) & 0.00 \% & 0.00 \% & 0.00 \%\\
Cyclist (3D Detection) & 3.37 \% & 1.86 \% & 1.48 \%\\
Cyclist (Bird's Eye View) & 3.46 \% & 1.89 \% & 1.51 \%
\end{tabular}