\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 91.08 \% & 81.44 \% & 71.52 \%\\
Car (Orientation) & 51.21 \% & 44.01 \% & 39.19 \%\\
Pedestrian (Detection) & 64.72 \% & 49.12 \% & 44.60 \%\\
Pedestrian (Orientation) & 30.19 \% & 23.70 \% & 21.55 \%
\end{tabular}