\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 13.31 \% & 9.80 \% & 9.91 \%\\
Pedestrian (Orientation) & 11.25 \% & 8.22 \% & 8.21 \%\\
Pedestrian (3D Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Pedestrian (Bird's Eye View) & 7.14 \% & 4.49 \% & 4.39 \%\\
Cyclist (Detection) & 24.56 \% & 17.42 \% & 15.40 \%\\
Cyclist (Orientation) & 19.66 \% & 14.12 \% & 12.40 \%\\
Cyclist (3D Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Cyclist (Bird's Eye View) & 12.23 \% & 8.11 \% & 6.75 \%
\end{tabular}