\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 83.04 \% & 75.14 \% & 61.55 \%\\
Car (Orientation) & 34.24 \% & 30.93 \% & 25.27 \%\\
Pedestrian (Detection) & 72.32 \% & 55.96 \% & 49.66 \%\\
Pedestrian (Orientation) & 40.51 \% & 30.97 \% & 27.45 \%\\
Cyclist (Detection) & 62.09 \% & 46.70 \% & 40.71 \%\\
Cyclist (Orientation) & 26.80 \% & 20.77 \% & 18.25 \%
\end{tabular}