\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.79 \% & 93.17 \% & 84.38 \%\\
Car (Orientation) & 49.16 \% & 46.12 \% & 42.79 \%\\
Pedestrian (Detection) & 82.72 \% & 68.41 \% & 62.72 \%\\
Pedestrian (Orientation) & 41.03 \% & 34.26 \% & 31.51 \%\\
Cyclist (Detection) & 82.90 \% & 73.48 \% & 64.03 \%\\
Cyclist (Orientation) & 47.48 \% & 41.14 \% & 35.07 \%
\end{tabular}