\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 29.38 \% & 21.36 \% & 16.61 \%\\
Pedestrian (Detection) & 26.62 \% & 19.97 \% & 17.96 \%\\
Cyclist (Detection) & 34.28 \% & 25.14 \% & 22.17 \%
\end{tabular}