\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.34 \% & 88.75 \% & 79.39 \%\\
Car (Orientation) & 89.01 \% & 86.57 \% & 77.13 \%\\
Pedestrian (Detection) & 82.50 \% & 67.32 \% & 65.14 \%\\
Pedestrian (Orientation) & 73.37 \% & 59.28 \% & 56.87 \%\\
Cyclist (Detection) & 77.00 \% & 65.72 \% & 57.74 \%\\
Cyclist (Orientation) & 67.49 \% & 55.62 \% & 48.85 \%
\end{tabular}