\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.88 \% & 86.52 \% & 76.46 \%\\
Car (3D Detection) & 70.34 \% & 56.17 \% & 48.11 \%\\
Car (Bird's Eye View) & 82.59 \% & 73.63 \% & 62.87 \%\\
Pedestrian (Detection) & 76.02 \% & 60.35 \% & 55.46 \%\\
Pedestrian (3D Detection) & 43.55 \% & 32.98 \% & 29.12 \%\\
Pedestrian (Bird's Eye View) & 49.07 \% & 38.01 \% & 34.00 \%\\
Cyclist (Detection) & 66.96 \% & 49.05 \% & 43.44 \%\\
Cyclist (3D Detection) & 49.27 \% & 33.28 \% & 28.90 \%\\
Cyclist (Bird's Eye View) & 56.94 \% & 38.56 \% & 34.06 \%
\end{tabular}