\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.22 \% & 84.43 \% & 75.39 \%\\
Car (Orientation) & 38.39 \% & 35.68 \% & 31.89 \%\\
Pedestrian (Detection) & 77.11 \% & 59.87 \% & 57.81 \%\\
Pedestrian (Orientation) & 46.29 \% & 36.62 \% & 35.40 \%\\
Cyclist (Detection) & 71.59 \% & 55.81 \% & 52.16 \%\\
Cyclist (Orientation) & 30.31 \% & 24.37 \% & 25.81 \%
\end{tabular}