\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.33 \% & 88.37 \% & 80.57 \%\\
Pedestrian (Detection) & 83.42 \% & 70.07 \% & 65.28 \%\\
Cyclist (Detection) & 81.97 \% & 69.63 \% & 59.52 \%
\end{tabular}