\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 68.26 \% & 57.26 \% & 54.74 \%\\
Pedestrian (Orientation) & 66.21 \% & 54.80 \% & 52.03 \%\\
Pedestrian (3D Detection) & 51.80 \% & 43.28 \% & 40.71 \%\\
Pedestrian (Bird's Eye View) & 56.54 \% & 48.15 \% & 45.63 \%\\
Cyclist (Detection) & 87.07 \% & 73.16 \% & 65.98 \%\\
Cyclist (Orientation) & 86.71 \% & 72.62 \% & 65.42 \%\\
Cyclist (3D Detection) & 81.49 \% & 63.41 \% & 56.40 \%\\
Cyclist (Bird's Eye View) & 82.68 \% & 67.36 \% & 59.15 \%
\end{tabular}