\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 50.81 \% & 39.59 \% & 35.91 \%\\
Pedestrian (Orientation) & 43.52 \% & 33.29 \% & 30.01 \%\\
Pedestrian (3D Detection) & 35.52 \% & 27.92 \% & 25.87 \%\\
Pedestrian (Bird's Eye View) & 41.55 \% & 33.22 \% & 29.66 \%\\
Cyclist (Detection) & 60.53 \% & 44.57 \% & 40.37 \%\\
Cyclist (Orientation) & 59.77 \% & 43.50 \% & 39.36 \%\\
Cyclist (3D Detection) & 52.61 \% & 37.33 \% & 33.39 \%\\
Cyclist (Bird's Eye View) & 56.52 \% & 40.74 \% & 36.68 \%
\end{tabular}