\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.52 \% & 89.37 \% & 79.15 \%\\
Car (Orientation) & 93.13 \% & 87.28 \% & 77.00 \%\\
Pedestrian (Detection) & 80.30 \% & 67.29 \% & 62.23 \%\\
Pedestrian (Orientation) & 71.19 \% & 58.66 \% & 53.94 \%\\
Cyclist (Detection) & 77.19 \% & 65.15 \% & 57.88 \%\\
Cyclist (Orientation) & 67.33 \% & 53.96 \% & 47.91 \%
\end{tabular}