\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 71.11 \% & 58.36 \% & 43.22 \%\\
Car (Orientation) & 70.23 \% & 57.48 \% & 42.54 \%\\
Pedestrian (Detection) & 50.74 \% & 37.26 \% & 33.13 \%\\
Pedestrian (Orientation) & 45.60 \% & 33.01 \% & 29.27 \%\\
Cyclist (Detection) & 35.70 \% & 26.05 \% & 23.56 \%\\
Cyclist (Orientation) & 26.05 \% & 19.15 \% & 18.02 \%
\end{tabular}