\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 72.34 \% & 63.07 \% & 59.49 \%\\
Pedestrian (Orientation) & 66.45 \% & 56.78 \% & 53.26 \%\\
Pedestrian (3D Detection) & 51.42 \% & 43.90 \% & 40.69 \%\\
Pedestrian (Bird's Eye View) & 56.04 \% & 48.10 \% & 45.65 \%
\end{tabular}