\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) & 0.19 \% & 0.12 \% & 0.12 \%\\
Pedestrian (Orientation) & 0.11 \% & 0.06 \% & 0.07 \%\\
Cyclist (Detection) & 0.02 \% & 0.03 \% & 0.04 \%\\
Cyclist (Orientation) & 0.01 \% & 0.02 \% & 0.02 \%
\end{tabular}