\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.85 \% & 95.17 \% & 85.42 \%\\
Car (3D Detection) & 82.19 \% & 69.79 \% & 60.59 \%\\
Car (Bird's Eye View) & 91.17 \% & 84.67 \% & 74.77 \%\\
Pedestrian (Detection) & 89.83 \% & 80.13 \% & 75.05 \%\\
Pedestrian (3D Detection) & 50.53 \% & 42.15 \% & 38.08 \%\\
Pedestrian (Bird's Eye View) & 57.13 \% & 49.57 \% & 45.48 \%\\
Cyclist (Detection) & 86.86 \% & 73.16 \% & 65.21 \%\\
Cyclist (3D Detection) & 72.27 \% & 56.12 \% & 49.01 \%\\
Cyclist (Bird's Eye View) & 77.26 \% & 61.37 \% & 53.78 \%
\end{tabular}