\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 7.24 \% & 6.24 \% & 5.42 \%\\
Car (3D Detection) & 3.24 \% & 3.02 \% & 2.26 \%\\
Car (Bird's Eye View) & 72.05 \% & 59.67 \% & 51.67 \%\\
Pedestrian (Detection) & 13.00 \% & 8.58 \% & 7.38 \%\\
Pedestrian (3D Detection) & 3.42 \% & 1.87 \% & 1.73 \%\\
Pedestrian (Bird's Eye View) & 6.88 \% & 4.60 \% & 3.79 \%\\
Cyclist (Detection) & 18.14 \% & 12.00 \% & 11.85 \%\\
Cyclist (3D Detection) & 7.13 \% & 4.54 \% & 3.81 \%\\
Cyclist (Bird's Eye View) & 12.31 \% & 9.18 \% & 8.14 \%
\end{tabular}