\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.81 \% & 89.04 \% & 79.27 \%\\
Car (Orientation) & 90.67 \% & 88.62 \% & 78.68 \%\\
Pedestrian (Detection) & 83.28 \% & 71.33 \% & 66.36 \%\\
Pedestrian (Orientation) & 78.45 \% & 66.28 \% & 61.36 \%\\
Cyclist (Detection) & 79.48 \% & 71.06 \% & 62.68 \%\\
Cyclist (Orientation) & 72.00 \% & 63.65 \% & 56.32 \%
\end{tabular}