\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 97.69 \% & 95.10 \% & 92.18 \%\\
Car (3D Detection) & 88.36 \% & 79.57 \% & 74.55 \%\\
Car (Bird's Eye View) & 92.66 \% & 89.02 \% & 85.86 \%\\
Pedestrian (Detection) & 72.33 \% & 60.51 \% & 56.28 \%\\
Pedestrian (3D Detection) & 54.64 \% & 44.27 \% & 40.23 \%\\
Pedestrian (Bird's Eye View) & 60.54 \% & 49.94 \% & 45.73 \%\\
Cyclist (Detection) & 87.09 \% & 74.12 \% & 67.67 \%\\
Cyclist (3D Detection) & 82.48 \% & 64.10 \% & 56.90 \%\\
Cyclist (Bird's Eye View) & 85.04 \% & 67.62 \% & 61.14 \%
\end{tabular}