\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 91.54 \% & 85.48 \% & 74.60 \%\\
Car (Orientation) & 39.02 \% & 35.89 \% & 31.33 \%\\
Pedestrian (Detection) & 79.09 \% & 61.87 \% & 56.70 \%\\
Pedestrian (Orientation) & 43.55 \% & 33.87 \% & 30.99 \%\\
Cyclist (Detection) & 72.80 \% & 56.39 \% & 49.71 \%\\
Cyclist (Orientation) & 31.17 \% & 25.01 \% & 22.12 \%
\end{tabular}