\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 0.00 \% & 0.00 \% & 0.00 \%\\
Car (Orientation) & 0.00 \% & 0.00 \% & 0.00 \%\\
Pedestrian (Detection) & 0.35 \% & 0.44 \% & 0.45 \%\\
Pedestrian (Orientation) & 0.20 \% & 0.23 \% & 0.25 \%\\
Cyclist (Detection) & 0.22 \% & 0.22 \% & 0.22 \%\\
Cyclist (Orientation) & 0.15 \% & 0.15 \% & 0.15 \%
\end{tabular}