\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 53.76 \% & 41.50 \% & 37.25 \%\\
Pedestrian (3D Detection) & 33.75 \% & 26.64 \% & 23.34 \%\\
Pedestrian (Bird's Eye View) & 49.27 \% & 37.96 \% & 33.83 \%
\end{tabular}