\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 71.15 \% & 60.10 \% & 57.66 \%\\
Pedestrian (Orientation) & 66.56 \% & 55.13 \% & 52.44 \%\\
Pedestrian (3D Detection) & 55.60 \% & 45.26 \% & 42.53 \%\\
Pedestrian (Bird's Eye View) & 59.41 \% & 50.23 \% & 47.62 \%\\
Cyclist (Detection) & 90.67 \% & 79.54 \% & 74.37 \%\\
Cyclist (Orientation) & 90.53 \% & 79.33 \% & 74.11 \%\\
Cyclist (3D Detection) & 84.85 \% & 70.29 \% & 62.22 \%\\
Cyclist (Bird's Eye View) & 88.70 \% & 74.17 \% & 67.26 \%
\end{tabular}