\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.69 \% & 88.95 \% & 79.85 \%\\
Car (Orientation) & 36.78 \% & 36.02 \% & 32.65 \%\\
Cyclist (Detection) & 64.82 \% & 43.39 \% & 37.77 \%\\
Cyclist (Orientation) & 27.15 \% & 18.63 \% & 16.42 \%
\end{tabular}