\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 63.45 \% & 52.78 \% & 50.79 \%\\
Pedestrian (Orientation) & 61.48 \% & 50.36 \% & 47.94 \%\\
Pedestrian (3D Detection) & 45.98 \% & 38.89 \% & 35.94 \%\\
Pedestrian (Bird's Eye View) & 49.45 \% & 43.41 \% & 40.57 \%\\
Cyclist (Detection) & 84.88 \% & 73.43 \% & 65.72 \%\\
Cyclist (Orientation) & 84.69 \% & 73.07 \% & 65.40 \%\\
Cyclist (3D Detection) & 78.45 \% & 62.75 \% & 56.30 \%\\
Cyclist (Bird's Eye View) & 81.16 \% & 67.20 \% & 59.56 \%
\end{tabular}