\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.61 \% & 89.93 \% & 81.81 \%\\
Pedestrian (Detection) & 84.58 \% & 73.74 \% & 66.35 \%\\
Cyclist (Detection) & 82.62 \% & 72.73 \% & 62.82 \%
\end{tabular}