\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 83.76 \% & 67.88 \% & 52.56 \%\\
Car (3D Detection) & 5.27 \% & 3.20 \% & 2.56 \%\\
Car (Bird's Eye View) & 10.20 \% & 6.39 \% & 5.06 \%\\
Pedestrian (Detection) & 69.33 \% & 52.84 \% & 48.49 \%\\
Pedestrian (3D Detection) & 1.93 \% & 1.35 \% & 1.04 \%\\
Pedestrian (Bird's Eye View) & 2.90 \% & 2.05 \% & 1.69 \%
\end{tabular}