\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 6.82 \% & 5.00 \% & 4.52 \%\\
Car (Bird's Eye View) & 80.16 \% & 68.16 \% & 63.43 \%\\
Pedestrian (Detection) & 22.37 \% & 16.45 \% & 15.43 \%\\
Pedestrian (Bird's Eye View) & 18.04 \% & 14.57 \% & 12.48 \%\\
Cyclist (Detection) & 47.51 \% & 31.98 \% & 29.84 \%\\
Cyclist (Bird's Eye View) & 47.48 \% & 36.83 \% & 33.58 \%
\end{tabular}