\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 87.12 \% & 85.74 \% & 77.02 \%\\
Car (Orientation) & 47.38 \% & 45.40 \% & 41.68 \%\\
Pedestrian (Detection) & 72.78 \% & 61.25 \% & 57.43 \%\\
Pedestrian (Orientation) & 37.95 \% & 32.35 \% & 30.38 \%\\
Cyclist (Detection) & 68.34 \% & 54.93 \% & 49.19 \%\\
Cyclist (Orientation) & 35.39 \% & 27.40 \% & 24.32 \%
\end{tabular}