\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 71.70 \% & 60.78 \% & 57.66 \%\\
Pedestrian (Orientation) & 54.35 \% & 45.47 \% & 42.97 \%\\
Pedestrian (3D Detection) & 55.79 \% & 45.85 \% & 42.15 \%\\
Pedestrian (Bird's Eye View) & 62.52 \% & 52.77 \% & 49.29 \%\\
Cyclist (Detection) & 76.69 \% & 65.21 \% & 58.80 \%\\
Cyclist (Orientation) & 76.08 \% & 63.79 \% & 57.47 \%\\
Cyclist (3D Detection) & 66.64 \% & 51.62 \% & 45.30 \%\\
Cyclist (Bird's Eye View) & 74.77 \% & 59.94 \% & 52.78 \%
\end{tabular}