\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.35 \% & 86.12 \% & 76.53 \%\\
Car (Orientation) & 49.08 \% & 45.58 \% & 41.33 \%\\
Pedestrian (Detection) & 73.69 \% & 61.33 \% & 56.65 \%\\
Pedestrian (Orientation) & 38.49 \% & 32.47 \% & 30.04 \%\\
Cyclist (Detection) & 69.64 \% & 54.50 \% & 48.24 \%\\
Cyclist (Orientation) & 36.26 \% & 27.40 \% & 24.04 \%
\end{tabular}