\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.10 \% & 88.04 \% & 75.31 \%\\
Car (3D Detection) & 76.57 \% & 65.33 \% & 56.11 \%\\
Car (Bird's Eye View) & 85.72 \% & 76.65 \% & 66.79 \%\\
Pedestrian (Detection) & 84.01 \% & 74.00 \% & 68.74 \%\\
Pedestrian (3D Detection) & 51.17 \% & 42.87 \% & 38.94 \%\\
Pedestrian (Bird's Eye View) & 54.91 \% & 47.78 \% & 43.34 \%\\
Cyclist (Detection) & 82.13 \% & 74.88 \% & 65.53 \%\\
Cyclist (3D Detection) & 75.99 \% & 59.40 \% & 51.50 \%\\
Cyclist (Bird's Eye View) & 78.76 \% & 63.72 \% & 55.50 \%
\end{tabular}