\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.40 \% & 85.32 \% & 70.57 \%\\
Car (Orientation) & 38.33 \% & 35.02 \% & 29.06 \%\\
Pedestrian (Detection) & 63.68 \% & 46.51 \% & 41.60 \%\\
Pedestrian (Orientation) & 34.53 \% & 25.09 \% & 22.43 \%\\
Cyclist (Detection) & 64.38 \% & 44.87 \% & 37.80 \%\\
Cyclist (Orientation) & 27.75 \% & 19.78 \% & 16.58 \%
\end{tabular}