\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 83.03 \% & 70.63 \% & 64.68 \%\\
Cyclist (Detection) & 77.63 \% & 67.36 \% & 59.62 \%
\end{tabular}