\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.60 \% & 89.20 \% & 80.04 \%\\
Car (Orientation) & 46.53 \% & 43.41 \% & 39.42 \%\\
Pedestrian (Detection) & 85.49 \% & 75.22 \% & 71.55 \%\\
Pedestrian (Orientation) & 43.57 \% & 38.60 \% & 36.82 \%\\
Cyclist (Detection) & 83.20 \% & 75.91 \% & 67.81 \%\\
Cyclist (Orientation) & 46.21 \% & 37.64 \% & 33.46 \%
\end{tabular}