\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 88.97 \% & 83.16 \% & 72.62 \%\\
Pedestrian (Detection) & 79.97 \% & 66.24 \% & 61.09 \%\\
Cyclist (Detection) & 72.40 \% & 62.86 \% & 54.97 \%
\end{tabular}