\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.91 \% & 82.00 \% & 68.79 \%\\
Car (Orientation) & 91.50 \% & 80.57 \% & 67.49 \%\\
Pedestrian (Detection) & 71.64 \% & 56.68 \% & 51.53 \%\\
Pedestrian (Orientation) & 67.03 \% & 52.15 \% & 47.14 \%\\
Cyclist (Detection) & 70.99 \% & 57.01 \% & 50.14 \%\\
Cyclist (Orientation) & 63.45 \% & 49.53 \% & 43.65 \%
\end{tabular}