\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.70 \% & 87.87 \% & 76.07 \%\\
Car (3D Detection) & 78.45 \% & 66.35 \% & 55.93 \%\\
Car (Bird's Eye View) & 85.99 \% & 78.45 \% & 67.14 \%\\
Pedestrian (Detection) & 86.00 \% & 75.32 \% & 69.55 \%\\
Pedestrian (3D Detection) & 49.50 \% & 40.72 \% & 36.22 \%\\
Pedestrian (Bird's Eye View) & 54.37 \% & 46.09 \% & 41.42 \%\\
Cyclist (Detection) & 84.71 \% & 75.77 \% & 65.95 \%\\
Cyclist (3D Detection) & 76.77 \% & 59.04 \% & 50.45 \%\\
Cyclist (Bird's Eye View) & 80.81 \% & 64.09 \% & 54.67 \%
\end{tabular}