\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 66.08 \% & 57.23 \% & 55.10 \%\\
Pedestrian (Orientation) & 43.10 \% & 37.41 \% & 35.88 \%\\
Pedestrian (3D Detection) & 49.83 \% & 41.64 \% & 39.28 \%\\
Pedestrian (Bird's Eye View) & 56.89 \% & 48.93 \% & 46.28 \%\\
Cyclist (Detection) & 81.56 \% & 67.37 \% & 61.28 \%\\
Cyclist (Orientation) & 80.04 \% & 65.60 \% & 59.60 \%\\
Cyclist (3D Detection) & 72.12 \% & 58.19 \% & 51.54 \%\\
Cyclist (Bird's Eye View) & 78.15 \% & 62.33 \% & 55.87 \%
\end{tabular}