\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.36 \% & 79.15 \% & 69.24 \%\\
Car (Orientation) & 37.63 \% & 32.90 \% & 28.73 \%\\
Pedestrian (Detection) & 0.68 \% & 0.93 \% & 0.95 \%\\
Pedestrian (Orientation) & 0.35 \% & 0.49 \% & 0.50 \%\\
Cyclist (Detection) & 0.29 \% & 0.44 \% & 0.22 \%\\
Cyclist (Orientation) & 0.14 \% & 0.20 \% & 0.10 \%
\end{tabular}