\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.46 \% & 88.83 \% & 74.76 \%\\
Pedestrian (Detection) & 83.70 \% & 73.62 \% & 68.28 \%\\
Cyclist (Detection) & 82.34 \% & 74.45 \% & 64.91 \%
\end{tabular}