\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 67.62 \% & 57.22 \% & 54.90 \%\\
Pedestrian (Orientation) & 45.59 \% & 38.95 \% & 37.21 \%\\
Pedestrian (3D Detection) & 50.90 \% & 42.19 \% & 39.52 \%\\
Pedestrian (Bird's Eye View) & 58.91 \% & 49.93 \% & 47.31 \%
\end{tabular}