\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.44 \% & 94.05 \% & 91.32 \%\\
Car (Orientation) & 95.43 \% & 93.95 \% & 91.15 \%\\
Car (3D Detection) & 87.22 \% & 78.54 \% & 74.36 \%\\
Car (Bird's Eye View) & 91.71 \% & 88.16 \% & 84.85 \%\\
Cyclist (Detection) & 88.67 \% & 74.82 \% & 68.19 \%\\
Cyclist (Orientation) & 88.38 \% & 74.52 \% & 67.89 \%\\
Cyclist (3D Detection) & 76.11 \% & 60.47 \% & 53.77 \%\\
Cyclist (Bird's Eye View) & 79.47 \% & 64.64 \% & 57.99 \%
\end{tabular}