\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 94.48 \% & 91.03 \% & 83.00 \%\\
Pedestrian (Detection) & 81.32 \% & 67.31 \% & 61.29 \%\\
Cyclist (Detection) & 79.04 \% & 66.54 \% & 57.76 \%
\end{tabular}