\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 86.12 \% & 77.18 \% & 68.09 \%\\
Car (Orientation) & 79.00 \% & 67.51 \% & 58.80 \%\\
Car (Bird's Eye View) & 0.00 \% & 0.00 \% & 0.00 \%\\
Pedestrian (Detection) & 49.38 \% & 37.00 \% & 33.46 \%\\
Pedestrian (Orientation) & 30.30 \% & 22.80 \% & 20.47 \%
\end{tabular}