\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 76.80 \% & 67.51 \% & 63.81 \%\\
Pedestrian (Orientation) & 49.04 \% & 42.97 \% & 40.69 \%\\
Pedestrian (3D Detection) & 51.22 \% & 42.89 \% & 39.28 \%\\
Pedestrian (Bird's Eye View) & 60.98 \% & 52.23 \% & 48.30 \%
\end{tabular}