\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 53.27 \% & 41.04 \% & 37.73 \%\\
Pedestrian (Orientation) & 37.65 \% & 27.84 \% & 25.24 \%\\
Pedestrian (3D Detection) & 16.19 \% & 10.53 \% & 8.97 \%\\
Pedestrian (Bird's Eye View) & 17.90 \% & 11.94 \% & 10.34 \%\\
Cyclist (Detection) & 38.03 \% & 30.10 \% & 26.99 \%\\
Cyclist (Orientation) & 24.39 \% & 17.52 \% & 15.84 \%\\
Cyclist (3D Detection) & 5.62 \% & 3.09 \% & 2.80 \%\\
Cyclist (Bird's Eye View) & 6.13 \% & 3.74 \% & 3.18 \%
\end{tabular}