\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 89.59 \% & 75.83 \% & 64.06 \%\\
Car (Orientation) & 89.49 \% & 75.41 \% & 63.57 \%\\
Pedestrian (Detection) & 80.07 \% & 63.54 \% & 57.02 \%\\
Pedestrian (Orientation) & 76.24 \% & 59.84 \% & 53.59 \%\\
Cyclist (Detection) & 81.53 \% & 68.40 \% & 59.43 \%\\
Cyclist (Orientation) & 75.74 \% & 62.02 \% & 53.99 \%
\end{tabular}