\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 67.68 \% & 59.52 \% & 56.87 \%\\
Pedestrian (Orientation) & 56.13 \% & 48.38 \% & 45.93 \%\\
Pedestrian (3D Detection) & 53.58 \% & 46.14 \% & 42.59 \%\\
Pedestrian (Bird's Eye View) & 57.02 \% & 50.55 \% & 47.25 \%
\end{tabular}