\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.96 \% & 89.55 \% & 79.38 \%\\
Car (Orientation) & 91.31 \% & 86.93 \% & 76.72 \%\\
Pedestrian (Detection) & 83.17 \% & 69.57 \% & 63.48 \%\\
Pedestrian (Orientation) & 74.22 \% & 61.48 \% & 55.89 \%\\
Cyclist (Detection) & 80.52 \% & 68.71 \% & 61.07 \%\\
Cyclist (Orientation) & 72.24 \% & 58.45 \% & 51.91 \%
\end{tabular}