\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 88.38 \% & 87.49 \% & 78.97 \%\\
Pedestrian (Detection) & 81.27 \% & 69.58 \% & 64.18 \%\\
Cyclist (Detection) & 80.64 \% & 69.06 \% & 60.06 \%
\end{tabular}