\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.29 \% & 80.78 \% & 70.53 \%\\
Car (Orientation) & 35.79 \% & 32.22 \% & 28.50 \%\\
Pedestrian (Detection) & 69.27 \% & 51.09 \% & 45.40 \%\\
Pedestrian (Orientation) & 37.41 \% & 27.53 \% & 24.35 \%\\
Cyclist (Detection) & 58.95 \% & 42.45 \% & 37.56 \%\\
Cyclist (Orientation) & 23.39 \% & 17.55 \% & 15.59 \%
\end{tabular}