\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.88 \% & 89.97 \% & 84.98 \%\\
Car (3D Detection) & 77.24 \% & 67.76 \% & 62.05 \%\\
Car (Bird's Eye View) & 90.25 \% & 82.68 \% & 77.97 \%\\
Pedestrian (Detection) & 68.42 \% & 55.62 \% & 51.45 \%\\
Pedestrian (3D Detection) & 47.58 \% & 37.47 \% & 35.07 \%\\
Pedestrian (Bird's Eye View) & 55.09 \% & 45.40 \% & 41.42 \%\\
Cyclist (Detection) & 75.35 \% & 56.04 \% & 49.11 \%\\
Cyclist (3D Detection) & 68.81 \% & 49.43 \% & 42.84 \%\\
Cyclist (Bird's Eye View) & 73.03 \% & 55.06 \% & 48.21 \%
\end{tabular}