\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.27 \% & 95.17 \% & 92.66 \%\\
Car (Orientation) & 96.26 \% & 95.04 \% & 92.48 \%\\
Car (3D Detection) & 88.74 \% & 81.91 \% & 77.45 \%\\
Car (Bird's Eye View) & 92.87 \% & 89.01 \% & 86.36 \%\\
Cyclist (Detection) & 90.12 \% & 81.20 \% & 74.57 \%\\
Cyclist (Orientation) & 89.25 \% & 80.23 \% & 73.69 \%\\
Cyclist (3D Detection) & 83.84 \% & 68.55 \% & 61.94 \%\\
Cyclist (Bird's Eye View) & 85.10 \% & 71.64 \% & 65.02 \%
\end{tabular}