\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 78.95 \% & 70.30 \% & 63.12 \%\\
Pedestrian (Detection) & 67.99 \% & 54.80 \% & 51.17 \%\\
Cyclist (Detection) & 78.41 \% & 68.82 \% & 62.50 \%
\end{tabular}