\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Pedestrian (Detection) & 90.60 \% & 81.05 \% & 76.08 \%\\
Cyclist (Detection) & 86.09 \% & 75.08 \% & 65.30 \%
\end{tabular}