\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 0.04 \% & 0.04 \% & 0.04 \%\\
Car (Bird's Eye View) & 79.76 \% & 64.12 \% & 56.48 \%\\
Pedestrian (Detection) & 0.02 \% & 0.04 \% & 0.05 \%\\
Pedestrian (Bird's Eye View) & 15.09 \% & 12.59 \% & 12.23 \%\\
Cyclist (Detection) & 0.04 \% & 1.01 \% & 1.01 \%\\
Cyclist (Bird's Eye View) & 28.06 \% & 19.92 \% & 19.13 \%
\end{tabular}