\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Cyclist (Detection) & 79.65 \% & 66.51 \% & 60.31 \%\\
Cyclist (3D Detection) & 72.08 \% & 56.13 \% & 49.91 \%\\
Cyclist (Bird's Eye View) & 75.13 \% & 59.79 \% & 53.36 \%
\end{tabular}