\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 54.55 \% & 43.86 \% & 40.99 \%\\
Pedestrian (Orientation) & 50.30 \% & 39.76 \% & 36.90 \%\\
Pedestrian (3D Detection) & 42.27 \% & 34.59 \% & 31.37 \%\\
Pedestrian (Bird's Eye View) & 47.51 \% & 38.79 \% & 35.85 \%
\end{tabular}