\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.99 \% & 93.46 \% & 85.46 \%\\
Car (Orientation) & 39.75 \% & 38.76 \% & 35.38 \%\\
Pedestrian (Detection) & 89.21 \% & 80.21 \% & 75.77 \%\\
Pedestrian (Orientation) & 49.02 \% & 43.48 \% & 40.97 \%\\
Cyclist (Detection) & 87.95 \% & 73.57 \% & 64.65 \%\\
Cyclist (Orientation) & 36.92 \% & 31.84 \% & 28.02 \%
\end{tabular}