\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.68 \% & 93.40 \% & 87.37 \%\\
Pedestrian (Detection) & 85.98 \% & 76.61 \% & 71.47 \%\\
Cyclist (Detection) & 86.81 \% & 76.81 \% & 66.59 \%
\end{tabular}