\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 60.54 \% & 50.96 \% & 48.78 \%\\
Pedestrian (Orientation) & 56.92 \% & 47.15 \% & 44.59 \%\\
Pedestrian (3D Detection) & 43.42 \% & 35.75 \% & 33.05 \%\\
Pedestrian (Bird's Eye View) & 48.22 \% & 40.27 \% & 37.90 \%
\end{tabular}