\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 50.94 \% & 39.43 \% & 35.78 \%\\
Pedestrian (Orientation) & 43.86 \% & 33.35 \% & 29.99 \%\\
Pedestrian (3D Detection) & 37.84 \% & 30.38 \% & 26.94 \%\\
Pedestrian (Bird's Eye View) & 43.33 \% & 34.15 \% & 31.78 \%\\
Cyclist (Detection) & 44.21 \% & 36.26 \% & 32.57 \%\\
Cyclist (Orientation) & 43.33 \% & 34.56 \% & 31.09 \%\\
Cyclist (3D Detection) & 40.87 \% & 32.61 \% & 29.05 \%\\
Cyclist (Bird's Eye View) & 43.55 \% & 35.24 \% & 30.15 \%
\end{tabular}