\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 75.24 \% & 60.21 \% & 44.73 \%\\
Car (Orientation) & 57.76 \% & 48.00 \% & 35.52 \%\\
Pedestrian (Detection) & 36.40 \% & 25.34 \% & 22.00 \%\\
Pedestrian (Orientation) & 27.79 \% & 19.17 \% & 16.48 \%\\
Cyclist (Detection) & 41.47 \% & 25.57 \% & 21.93 \%\\
Cyclist (Orientation) & 23.93 \% & 14.64 \% & 13.09 \%
\end{tabular}