\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 64.94 \% & 55.90 \% & 53.60 \%\\
Pedestrian (Orientation) & 63.07 \% & 53.49 \% & 50.94 \%\\
Pedestrian (3D Detection) & 48.25 \% & 41.45 \% & 39.17 \%\\
Pedestrian (Bird's Eye View) & 53.25 \% & 46.08 \% & 43.81 \%\\
Cyclist (Detection) & 87.97 \% & 73.84 \% & 66.36 \%\\
Cyclist (Orientation) & 87.83 \% & 73.55 \% & 66.08 \%\\
Cyclist (3D Detection) & 79.74 \% & 63.68 \% & 56.63 \%\\
Cyclist (Bird's Eye View) & 82.97 \% & 67.09 \% & 59.90 \%
\end{tabular}