\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 92.17 \% & 82.96 \% & 72.43 \%\\
Car (Orientation) & 38.09 \% & 34.27 \% & 29.93 \%\\
Pedestrian (Detection) & 71.15 \% & 56.58 \% & 51.87 \%\\
Pedestrian (Orientation) & 39.55 \% & 31.21 \% & 28.61 \%\\
Cyclist (Detection) & 66.29 \% & 49.48 \% & 42.81 \%\\
Cyclist (Orientation) & 28.26 \% & 21.51 \% & 18.83 \%
\end{tabular}