\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.14 \% & 93.22 \% & 90.53 \%\\
Car (3D Detection) & 87.95 \% & 79.71 \% & 75.09 \%\\
Car (Bird's Eye View) & 94.74 \% & 89.19 \% & 86.42 \%\\
Pedestrian (Detection) & 68.33 \% & 55.04 \% & 50.85 \%\\
Pedestrian (3D Detection) & 53.29 \% & 42.47 \% & 38.35 \%\\
Pedestrian (Bird's Eye View) & 60.02 \% & 48.72 \% & 44.55 \%\\
Cyclist (Detection) & 83.99 \% & 71.63 \% & 64.92 \%\\
Cyclist (3D Detection) & 78.69 \% & 61.59 \% & 55.30 \%\\
Cyclist (Bird's Eye View) & 81.36 \% & 67.23 \% & 59.35 \%
\end{tabular}