\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 51.76 \% & 34.76 \% & 29.39 \%\\
Car (Orientation) & 20.58 \% & 13.76 \% & 11.91 \%\\
Pedestrian (Detection) & 45.78 \% & 36.03 \% & 32.79 \%\\
Pedestrian (Orientation) & 25.10 \% & 19.36 \% & 17.54 \%\\
Cyclist (Detection) & 20.05 \% & 12.81 \% & 11.99 \%\\
Cyclist (Orientation) & 7.19 \% & 4.86 \% & 4.74 \%
\end{tabular}