\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 70.52 \% & 56.10 \% & 42.87 \%\\
Pedestrian (Detection) & 50.01 \% & 38.35 \% & 34.78 \%\\
Cyclist (Detection) & 40.31 \% & 30.81 \% & 28.17 \%
\end{tabular}