\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 88.14 \% & 78.96 \% & 69.74 \%\\
Car (Orientation) & 35.58 \% & 31.71 \% & 28.18 \%\\
Pedestrian (Detection) & 69.89 \% & 52.42 \% & 51.70 \%\\
Pedestrian (Orientation) & 41.08 \% & 31.20 \% & 30.78 \%\\
Cyclist (Detection) & 64.73 \% & 48.06 \% & 40.75 \%\\
Cyclist (Orientation) & 27.44 \% & 26.36 \% & 23.20 \%
\end{tabular}