\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 84.61 \% & 71.37 \% & 64.90 \%\\
Cyclist (Detection) & 78.48 \% & 67.57 \% & 58.83 \%
\end{tabular}