\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 66.31 \% & 55.80 \% & 52.02 \%\\
Pedestrian (Orientation) & 64.69 \% & 53.73 \% & 49.84 \%\\
Pedestrian (3D Detection) & 50.65 \% & 43.09 \% & 39.65 \%\\
Pedestrian (Bird's Eye View) & 56.09 \% & 48.46 \% & 44.90 \%\\
Cyclist (Detection) & 86.42 \% & 70.41 \% & 63.26 \%\\
Cyclist (Orientation) & 86.28 \% & 70.16 \% & 62.99 \%\\
Cyclist (3D Detection) & 80.64 \% & 63.43 \% & 55.15 \%\\
Cyclist (Bird's Eye View) & 83.03 \% & 66.00 \% & 57.57 \%
\end{tabular}