\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 65.47 \% & 43.99 \% & 36.33 \%\\
Car (Orientation) & 25.68 \% & 17.04 \% & 13.96 \%\\
Pedestrian (Detection) & 46.95 \% & 32.79 \% & 31.70 \%\\
Pedestrian (Orientation) & 30.16 \% & 22.07 \% & 21.44 \%\\
Cyclist (Detection) & 37.40 \% & 28.65 \% & 23.50 \%\\
Cyclist (Orientation) & 14.62 \% & 11.30 \% & 8.94 \%
\end{tabular}