\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 0.00 \% & 0.01 \% & 0.01 \%\\
Car (Bird's Eye View) & 79.74 \% & 64.60 \% & 58.04 \%\\
Pedestrian (Detection) & 0.01 \% & 0.01 \% & 0.01 \%\\
Pedestrian (Bird's Eye View) & 8.78 \% & 6.59 \% & 6.25 \%\\
Cyclist (Detection) & 0.00 \% & 0.04 \% & 0.04 \%\\
Cyclist (Bird's Eye View) & 23.02 \% & 16.00 \% & 13.24 \%
\end{tabular}