\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.15 \% & 90.06 \% & 79.91 \%\\
Car (Orientation) & 93.68 \% & 87.81 \% & 77.60 \%\\
Pedestrian (Detection) & 83.00 \% & 68.46 \% & 63.35 \%\\
Pedestrian (Orientation) & 73.76 \% & 60.15 \% & 55.30 \%\\
Cyclist (Detection) & 79.35 \% & 67.22 \% & 58.60 \%\\
Cyclist (Orientation) & 69.36 \% & 56.55 \% & 49.37 \%
\end{tabular}