\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.87 \% & 78.95 \% & 68.97 \%\\
Car (Orientation) & 88.52 \% & 77.61 \% & 67.69 \%\\
Pedestrian (Detection) & 71.18 \% & 56.78 \% & 52.86 \%\\
Pedestrian (Orientation) & 66.84 \% & 52.62 \% & 48.72 \%\\
Cyclist (Detection) & 70.05 \% & 57.37 \% & 51.00 \%\\
Cyclist (Orientation) & 63.41 \% & 50.91 \% & 45.46 \%
\end{tabular}