\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 71.76 \% & 61.83 \% & 59.29 \%\\
Pedestrian (Orientation) & 68.67 \% & 57.94 \% & 55.07 \%\\
Pedestrian (3D Detection) & 50.91 \% & 43.19 \% & 40.81 \%\\
Pedestrian (Bird's Eye View) & 54.15 \% & 47.36 \% & 45.10 \%\\
Cyclist (Detection) & 88.40 \% & 76.93 \% & 70.35 \%\\
Cyclist (Orientation) & 88.21 \% & 76.52 \% & 69.90 \%\\
Cyclist (3D Detection) & 78.62 \% & 63.13 \% & 56.81 \%\\
Cyclist (Bird's Eye View) & 81.09 \% & 68.06 \% & 60.73 \%
\end{tabular}