\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.47 \% & 88.86 \% & 77.60 \%\\
Car (Orientation) & 90.39 \% & 88.56 \% & 77.17 \%\\
Cyclist (Detection) & 82.65 \% & 73.48 \% & 64.11 \%\\
Cyclist (Orientation) & 68.58 \% & 59.37 \% & 51.97 \%
\end{tabular}