\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 88.89 \% & 75.74 \% & 61.86 \%\\
Car (Orientation) & 88.78 \% & 75.35 \% & 61.47 \%\\
Pedestrian (Detection) & 77.69 \% & 63.38 \% & 57.42 \%\\
Pedestrian (Orientation) & 74.10 \% & 59.89 \% & 54.21 \%\\
Cyclist (Detection) & 80.19 \% & 68.04 \% & 59.95 \%\\
Cyclist (Orientation) & 74.85 \% & 62.25 \% & 55.09 \%
\end{tabular}