\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.81 \% & 93.99 \% & 91.72 \%\\
Car (3D Detection) & 87.45 \% & 79.05 \% & 76.14 \%\\
Car (Bird's Eye View) & 91.90 \% & 88.08 \% & 85.35 \%\\
Pedestrian (Detection) & 67.88 \% & 57.35 \% & 54.42 \%\\
Pedestrian (3D Detection) & 46.33 \% & 38.58 \% & 35.71 \%\\
Pedestrian (Bird's Eye View) & 52.15 \% & 43.85 \% & 41.68 \%\\
Cyclist (Detection) & 85.43 \% & 73.63 \% & 66.64 \%\\
Cyclist (3D Detection) & 77.36 \% & 62.00 \% & 55.40 \%\\
Cyclist (Bird's Eye View) & 79.65 \% & 64.54 \% & 57.84 \%
\end{tabular}