\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.20 \% & 93.20 \% & 90.55 \%\\
Car (Orientation) & 96.13 \% & 93.03 \% & 90.33 \%\\
Car (3D Detection) & 90.43 \% & 81.55 \% & 77.22 \%\\
Car (Bird's Eye View) & 92.85 \% & 88.87 \% & 86.07 \%\\
Cyclist (Detection) & 85.50 \% & 72.73 \% & 65.81 \%\\
Cyclist (Orientation) & 85.09 \% & 72.20 \% & 65.25 \%\\
Cyclist (3D Detection) & 78.67 \% & 62.74 \% & 55.78 \%\\
Cyclist (Bird's Eye View) & 82.76 \% & 67.90 \% & 60.49 \%
\end{tabular}