\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 82.80 \% & 71.82 \% & 66.85 \%\\
Pedestrian (Orientation) & 79.98 \% & 68.19 \% & 63.18 \%\\
Pedestrian (3D Detection) & 53.44 \% & 43.27 \% & 39.51 \%\\
Pedestrian (Bird's Eye View) & 60.34 \% & 50.34 \% & 46.45 \%
\end{tabular}