\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Bird's Eye View) & 90.75 \% & 86.27 \% & 81.21 \%\\
Pedestrian (Bird's Eye View) & 53.79 \% & 47.44 \% & 44.96 \%\\
Cyclist (Bird's Eye View) & 72.65 \% & 61.47 \% & 56.23 \%
\end{tabular}