\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.83 \% & 80.25 \% & 70.76 \%\\
Car (Orientation) & 36.87 \% & 32.95 \% & 29.14 \%\\
Pedestrian (Detection) & 62.62 \% & 44.81 \% & 44.53 \%\\
Pedestrian (Orientation) & 34.08 \% & 24.19 \% & 24.04 \%\\
Cyclist (Detection) & 61.60 \% & 43.85 \% & 42.60 \%\\
Cyclist (Orientation) & 26.37 \% & 19.19 \% & 18.56 \%
\end{tabular}