\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Cyclist (Detection) & 82.86 \% & 70.18 \% & 63.55 \%\\
Cyclist (Orientation) & 82.18 \% & 69.54 \% & 62.98 \%\\
Cyclist (3D Detection) & 75.42 \% & 60.30 \% & 53.81 \%\\
Cyclist (Bird's Eye View) & 80.00 \% & 65.85 \% & 58.69 \%
\end{tabular}