\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Cyclist (Detection) & 89.35 \% & 78.57 \% & 73.56 \%\\
Cyclist (Orientation) & 89.21 \% & 78.34 \% & 73.27 \%\\
Cyclist (3D Detection) & 83.42 \% & 69.04 \% & 61.29 \%\\
Cyclist (Bird's Eye View) & 86.97 \% & 72.91 \% & 66.23 \%
\end{tabular}