\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 87.97 \% & 78.93 \% & 69.80 \%\\
Car (Orientation) & 49.41 \% & 42.62 \% & 38.21 \%\\
Pedestrian (Detection) & 64.97 \% & 49.64 \% & 48.47 \%\\
Pedestrian (Orientation) & 30.25 \% & 23.89 \% & 23.38 \%
\end{tabular}