\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.23 \% & 95.32 \% & 92.68 \%\\
Car (Orientation) & 39.26 \% & 38.75 \% & 38.57 \%\\
Car (3D Detection) & 90.64 \% & 82.66 \% & 77.91 \%\\
Car (Bird's Eye View) & 92.80 \% & 89.12 \% & 86.27 \%\\
Cyclist (Detection) & 87.77 \% & 80.58 \% & 74.86 \%\\
Cyclist (Orientation) & 36.23 \% & 34.28 \% & 32.09 \%\\
Cyclist (3D Detection) & 80.21 \% & 66.96 \% & 60.50 \%\\
Cyclist (Bird's Eye View) & 82.66 \% & 70.09 \% & 63.61 \%
\end{tabular}