\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.89 \% & 79.62 \% & 70.03 \%\\
Car (Orientation) & 37.16 \% & 32.91 \% & 28.94 \%\\
Pedestrian (Detection) & 70.20 \% & 57.11 \% & 52.15 \%\\
Pedestrian (Orientation) & 39.11 \% & 31.58 \% & 28.78 \%\\
Cyclist (Detection) & 66.44 \% & 50.24 \% & 44.19 \%\\
Cyclist (Orientation) & 28.20 \% & 21.50 \% & 19.12 \%
\end{tabular}