\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.23 \% & 93.47 \% & 88.55 \%\\
Car (Orientation) & 39.26 \% & 38.00 \% & 36.82 \%\\
Car (3D Detection) & 90.64 \% & 82.86 \% & 78.09 \%\\
Car (Bird's Eye View) & 92.81 \% & 89.34 \% & 84.55 \%\\
Cyclist (Detection) & 88.41 \% & 80.46 \% & 74.59 \%\\
Cyclist (Orientation) & 35.79 \% & 33.94 \% & 31.90 \%\\
Cyclist (3D Detection) & 82.81 \% & 68.68 \% & 61.81 \%\\
Cyclist (Bird's Eye View) & 84.48 \% & 71.76 \% & 64.70 \%
\end{tabular}