\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 80.70 \% & 73.56 \% & 61.94 \%\\
Car (Orientation) & 33.30 \% & 30.29 \% & 25.44 \%\\
Pedestrian (Detection) & 71.17 \% & 56.91 \% & 50.06 \%\\
Pedestrian (Orientation) & 40.51 \% & 32.48 \% & 28.66 \%\\
Cyclist (Detection) & 62.17 \% & 47.61 \% & 43.74 \%\\
Cyclist (Orientation) & 26.55 \% & 20.80 \% & 19.22 \%
\end{tabular}