\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 77.89 \% & 70.70 \% & 57.41 \%\\
Pedestrian (Detection) & 72.99 \% & 56.18 \% & 49.72 \%\\
Cyclist (Detection) & 51.10 \% & 40.94 \% & 34.83 \%
\end{tabular}