\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 82.15 \% & 66.72 \% & 49.01 \%\\
Car (Orientation) & 79.09 \% & 63.58 \% & 46.59 \%\\
Pedestrian (Detection) & 59.21 \% & 43.26 \% & 38.12 \%\\
Pedestrian (Orientation) & 52.91 \% & 37.79 \% & 33.27 \%\\
Cyclist (Detection) & 41.58 \% & 27.73 \% & 24.61 \%\\
Cyclist (Orientation) & 27.97 \% & 18.92 \% & 17.43 \%
\end{tabular}