\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.76 \% & 90.00 \% & 81.83 \%\\
Car (Orientation) & 47.06 \% & 44.56 \% & 41.50 \%\\
Pedestrian (Detection) & 80.12 \% & 67.28 \% & 62.25 \%\\
Pedestrian (Orientation) & 43.55 \% & 37.50 \% & 35.08 \%\\
Cyclist (Detection) & 81.76 \% & 72.50 \% & 64.00 \%\\
Cyclist (Orientation) & 46.65 \% & 42.12 \% & 36.66 \%
\end{tabular}