\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 37.63 \% & 23.76 \% & 18.44 \%\\
Pedestrian (Detection) & 44.36 \% & 31.37 \% & 30.62 \%\\
Cyclist (Detection) & 28.19 \% & 21.62 \% & 20.93 \%
\end{tabular}