\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.37 \% & 87.36 \% & 73.42 \%\\
Car (Orientation) & 36.22 \% & 35.61 \% & 30.16 \%\\
Pedestrian (Detection) & 78.79 \% & 59.50 \% & 54.44 \%\\
Pedestrian (Orientation) & 43.37 \% & 32.59 \% & 29.73 \%\\
Cyclist (Detection) & 77.24 \% & 58.08 \% & 51.13 \%\\
Cyclist (Orientation) & 33.81 \% & 26.59 \% & 23.48 \%
\end{tabular}