\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.78 \% & 79.97 \% & 70.57 \%\\
Car (Orientation) & 37.83 \% & 34.18 \% & 30.75 \%\\
Pedestrian (Detection) & 68.65 \% & 51.75 \% & 46.89 \%\\
Pedestrian (Orientation) & 40.82 \% & 31.62 \% & 28.94 \%\\
Cyclist (Detection) & 59.28 \% & 44.50 \% & 39.75 \%\\
Cyclist (Orientation) & 23.40 \% & 18.36 \% & 16.35 \%
\end{tabular}