\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.26 \% & 89.98 \% & 79.78 \%\\
Car (Orientation) & 94.11 \% & 89.53 \% & 79.14 \%\\
Pedestrian (Detection) & 84.88 \% & 72.27 \% & 66.82 \%\\
Pedestrian (Orientation) & 79.65 \% & 66.70 \% & 61.35 \%\\
Cyclist (Detection) & 79.36 \% & 71.72 \% & 62.74 \%\\
Cyclist (Orientation) & 71.97 \% & 63.36 \% & 55.42 \%
\end{tabular}