\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 52.30 \% & 37.82 \% & 32.71 \%\\
Car (Orientation) & 20.79 \% & 14.27 \% & 12.61 \%\\
Pedestrian (Detection) & 47.15 \% & 39.90 \% & 35.32 \%\\
Pedestrian (Orientation) & 26.50 \% & 22.24 \% & 19.80 \%\\
Cyclist (Detection) & 23.15 \% & 17.71 \% & 17.30 \%\\
Cyclist (Orientation) & 7.81 \% & 6.15 \% & 6.35 \%
\end{tabular}