\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.71 \% & 90.19 \% & 76.82 \%\\
Car (Orientation) & 94.62 \% & 89.88 \% & 76.40 \%\\
Cyclist (Detection) & 84.36 \% & 74.78 \% & 64.05 \%\\
Cyclist (Orientation) & 68.31 \% & 58.56 \% & 50.30 \%
\end{tabular}