\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 64.73 \% & 56.68 \% & 54.21 \%\\
Pedestrian (3D Detection) & 45.15 \% & 39.55 \% & 37.27 \%\\
Pedestrian (Bird's Eye View) & 52.08 \% & 47.35 \% & 45.23 \%\\
Cyclist (Detection) & 80.20 \% & 69.31 \% & 63.85 \%\\
Cyclist (3D Detection) & 71.66 \% & 56.79 \% & 50.82 \%\\
Cyclist (Bird's Eye View) & 77.22 \% & 63.17 \% & 57.34 \%
\end{tabular}