\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 0.01 \% & 0.01 \% & 0.01 \%\\
Car (Orientation) & 0.01 \% & 0.01 \% & 0.01 \%\\
Pedestrian (Detection) & 0.03 \% & 0.03 \% & 0.03 \%\\
Pedestrian (Orientation) & 0.02 \% & 0.02 \% & 0.02 \%\\
Cyclist (Detection) & 0.08 \% & 0.13 \% & 0.07 \%\\
Cyclist (Orientation) & 0.04 \% & 0.04 \% & 0.02 \%
\end{tabular}