\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 66.91 \% & 56.49 \% & 54.06 \%\\
Pedestrian (Orientation) & 44.01 \% & 37.23 \% & 35.54 \%\\
Pedestrian (3D Detection) & 47.87 \% & 39.47 \% & 36.35 \%\\
Pedestrian (Bird's Eye View) & 56.06 \% & 47.24 \% & 44.61 \%\\
Cyclist (Detection) & 82.74 \% & 67.82 \% & 61.06 \%\\
Cyclist (Orientation) & 81.05 \% & 65.85 \% & 59.17 \%\\
Cyclist (3D Detection) & 73.69 \% & 57.15 \% & 50.17 \%\\
Cyclist (Bird's Eye View) & 78.91 \% & 62.34 \% & 55.37 \%
\end{tabular}