\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.94 \% & 90.35 \% & 77.94 \%\\
Car (Orientation) & 38.86 \% & 36.36 \% & 31.79 \%\\
Pedestrian (Detection) & 80.79 \% & 64.97 \% & 58.36 \%\\
Pedestrian (Orientation) & 44.79 \% & 35.85 \% & 32.12 \%\\
Cyclist (Detection) & 79.02 \% & 62.50 \% & 53.87 \%\\
Cyclist (Orientation) & 34.10 \% & 28.26 \% & 24.69 \%
\end{tabular}