\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.74 \% & 94.61 \% & 91.98 \%\\
Car (Orientation) & 95.69 \% & 94.42 \% & 91.70 \%\\
Car (3D Detection) & 88.60 \% & 79.80 \% & 76.76 \%\\
Car (Bird's Eye View) & 92.28 \% & 88.59 \% & 85.83 \%\\
Cyclist (Detection) & 90.43 \% & 81.67 \% & 74.90 \%\\
Cyclist (Orientation) & 90.24 \% & 81.24 \% & 74.49 \%\\
Cyclist (3D Detection) & 83.12 \% & 67.77 \% & 60.26 \%\\
Cyclist (Bird's Eye View) & 85.99 \% & 71.49 \% & 63.62 \%
\end{tabular}