\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Bird's Eye View) & 92.83 \% & 88.82 \% & 83.38 \%\\
Pedestrian (Bird's Eye View) & 54.84 \% & 48.86 \% & 46.33 \%\\
Cyclist (Bird's Eye View) & 83.97 \% & 71.17 \% & 63.65 \%
\end{tabular}