\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 72.74 \% & 62.35 \% & 59.29 \%\\
Pedestrian (Orientation) & 55.11 \% & 46.59 \% & 44.14 \%\\
Pedestrian (3D Detection) & 56.39 \% & 46.71 \% & 42.71 \%\\
Pedestrian (Bird's Eye View) & 63.25 \% & 53.92 \% & 50.53 \%\\
Cyclist (Detection) & 78.05 \% & 63.34 \% & 56.46 \%\\
Cyclist (Orientation) & 77.54 \% & 62.62 \% & 55.66 \%\\
Cyclist (3D Detection) & 67.50 \% & 51.10 \% & 44.66 \%\\
Cyclist (Bird's Eye View) & 72.80 \% & 56.94 \% & 50.04 \%
\end{tabular}