\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.75 \% & 88.86 \% & 79.24 \%\\
Car (Orientation) & 90.61 \% & 88.43 \% & 78.63 \%\\
Pedestrian (Detection) & 83.17 \% & 71.34 \% & 66.36 \%\\
Pedestrian (Orientation) & 78.33 \% & 66.28 \% & 61.37 \%\\
Cyclist (Detection) & 77.82 \% & 70.77 \% & 62.71 \%\\
Cyclist (Orientation) & 71.39 \% & 63.41 \% & 56.34 \%
\end{tabular}