\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.11 \% & 85.33 \% & 76.55 \%\\
Car (3D Detection) & 68.02 \% & 56.76 \% & 49.39 \%\\
Car (Bird's Eye View) & 81.79 \% & 72.73 \% & 63.98 \%\\
Pedestrian (Detection) & 75.51 \% & 59.21 \% & 56.49 \%\\
Pedestrian (3D Detection) & 45.89 \% & 34.71 \% & 32.43 \%\\
Pedestrian (Bird's Eye View) & 50.07 \% & 40.48 \% & 35.64 \%\\
Cyclist (Detection) & 67.40 \% & 50.54 \% & 45.22 \%\\
Cyclist (3D Detection) & 50.06 \% & 35.86 \% & 31.11 \%\\
Cyclist (Bird's Eye View) & 56.84 \% & 40.42 \% & 35.20 \%
\end{tabular}