\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 58.04 \% & 45.85 \% & 41.11 \%\\
Car (3D Detection) & 12.67 \% & 9.28 \% & 7.95 \%\\
Car (Bird's Eye View) & 67.84 \% & 53.05 \% & 46.99 \%\\
Pedestrian (Detection) & 21.22 \% & 15.28 \% & 13.89 \%\\
Pedestrian (3D Detection) & 10.40 \% & 6.92 \% & 6.63 \%\\
Pedestrian (Bird's Eye View) & 19.43 \% & 13.50 \% & 11.93 \%\\
Cyclist (Detection) & 22.86 \% & 13.98 \% & 14.52 \%\\
Cyclist (3D Detection) & 2.49 \% & 1.67 \% & 1.88 \%\\
Cyclist (Bird's Eye View) & 9.99 \% & 6.48 \% & 6.76 \%
\end{tabular}