\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 85.94 \% & 62.74 \% & 50.27 \%\\
Car (3D Detection) & 24.30 \% & 14.46 \% & 11.12 \%\\
Car (Bird's Eye View) & 32.81 \% & 20.14 \% & 15.77 \%\\
Pedestrian (Detection) & 41.64 \% & 29.25 \% & 26.01 \%\\
Pedestrian (3D Detection) & 10.68 \% & 7.09 \% & 6.06 \%\\
Pedestrian (Bird's Eye View) & 12.05 \% & 8.18 \% & 7.03 \%\\
Cyclist (Detection) & 28.23 \% & 16.64 \% & 14.14 \%\\
Cyclist (3D Detection) & 5.37 \% & 2.68 \% & 2.22 \%\\
Cyclist (Bird's Eye View) & 5.99 \% & 3.22 \% & 2.62 \%
\end{tabular}