\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 74.76 \% & 70.65 \% & 63.70 \%\\
Pedestrian (Detection) & 64.40 \% & 48.93 \% & 48.02 \%\\
Cyclist (Detection) & 52.88 \% & 43.30 \% & 36.57 \%
\end{tabular}