\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 81.09 \% & 57.47 \% & 48.37 \%\\
Car (Orientation) & 34.82 \% & 25.26 \% & 21.73 \%\\
Pedestrian (Detection) & 35.65 \% & 26.73 \% & 26.46 \%\\
Pedestrian (Orientation) & 23.61 \% & 18.55 \% & 18.34 \%\\
Cyclist (Detection) & 44.60 \% & 29.95 \% & 27.70 \%\\
Cyclist (Orientation) & 17.33 \% & 11.79 \% & 10.99 \%
\end{tabular}