\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 68.94 \% & 55.95 \% & 41.45 \%\\
Pedestrian (Detection) & 48.73 \% & 35.92 \% & 31.70 \%\\
Cyclist (Detection) & 37.66 \% & 27.81 \% & 24.83 \%
\end{tabular}